Parallel link mechanism and link actuation device

A parallel link mechanism comprising:

• a proximal end-side link hub;
• three or more link mechanisms;
• three or more rotating bodies connected to the three or more link mechanisms, respectively;
• and
• a distal end-side link hub, wherein
• the three or more rotating bodies are rotatably coupled to the proximal end-side link hub and are aligned such that respective rotation center axes coincide one another,
• each of the three or more link mechanisms includes i) a first link member and ii) a second link member rotatably connected to the first link member at a first revolute pair portion,
• the second link member is rotatably connected to the distal end-side link hub at a second revolute pair portion,
• the first link member of each of the three or more link mechanisms is fixed to one of the three or more rotating bodies,
• in the three or more link mechanisms, a first center axis of the first revolute pair portion intersects with a second center axis of the second revolute pair portion at a spherical link center point,
• a rotation center axis of the three or more rotating bodies intersects with the spherical link center point,
• the proximal end-side link hub has a surface facing the three or more rotating bodies,
• the three or more rotating bodies are stacked in a direction along the rotation center axis on the surface of the proximal end-side link hub in order from a side closer to the proximal end-side link hub, and
• the parallel link mechanism further comprises a fastening member that fixes the three or more rotating bodies to the proximal end side link hub, and a plurality of bearings that are disposed between the fastening member and each of the three or more rotating bodies.