Parallel link manipulator and its control device

Abstract

Then an end effecter is used to operate a heavy object, a large bending moment may act on arms of a manipulator to bend them. Consequently, an operating section cannot precisely control positions. Thus, according to the present invention, three arms 14 are attached to a base section 11, each of the arms 14 being composed of a first link section 15 having one end connected to a rotating shaft 12 on the base section 11 and a second link section 17 connected to the first link section 15 via another rotating shaft 16. These arms 14 support an operating section 19. The second link section 17 is connected to the rotating shaft 16 and to the operating section 19 using universal joints 18a and 18b. Direct acting driving means 13 is composed of a driving shaft 13a and a driving source that advances and retreats the driving shaft 13a. The driving shaft 13a is driven to advance and retreat to move the operating section 19 to a desired position. In this case, the operating section 19 is always kept parallel with a particular plane. Loads on the operating section 19 act in the axial directions of the driving shafts 13a. This prevents the driving shafts 13a from being bent or deformed, thus enabling precise positional control.

Dependencies are inferred from the claim text.