Work device

An operation device comprising:

• a combination of a rotation unit and a linear motion unit, the rotation unit including a link actuation apparatus and a rotation actuator,
• the link actuation apparatus including a proximal end side-link hub, and a distal end side-link hub, three or more link mechanisms which couple the distal end side-link hub to the proximal end side-link hub so as to enable a varying attitude of the distal end side-link hub relative to the proximal end side-link hub,
• each of the three or more link mechanisms including:
• a proximal end side-end link member having one end pivotably coupled to the proximal end side-link hub;
• a distal end side-end link member having one end pivotably coupled to the distal end side-link hub;
• and an intermediate link member having opposite ends pivotably coupled to the other ends of the the proximal end side-end link member and the distal end side-end link member,
• at least two of the three or more link mechanisms being associated with attitude control actuators configured to vary the attitude of the distal end side-link hub such that the distal end side-link hub assumes a given attitude relative to the proximal end side-link hub,
• the link actuation apparatus being mounted to an output shaft of the rotation actuator via a mounting member such that a central axis of the proximal end side-link hub forms an angle θt inclined relative to an axis of rotation of the rotation actuator, a central axis of the output shaft of the rotation actuator coinciding with the axis of rotation of the rotation actuator,
• the linear motion unit including a linear actuator serving as an output portion thereof, and the rotation unit being mounted to this linear actuator,
• wherein the mounting member has a tip end provided with a slope surface which is inclined by a predetermined angle relative to the axis of rotation of the rotation actuator, and the proximal end side-link hub is secured to the slope surface.