Link actuation device

An operating device to operate a link actuation device through an actuator, the link actuation device comprising:

• a proximal end side link hub;
• a distal end side link hub connected with the proximal end side link hub through three or more sets of link mechanisms for alteration in orientation;
• and a control device to control the actuator, wherein:
• each of the link mechanisms includes proximal side and distal side end link members which are rotatably connected at one end with the proximal end side link hub and the distal end side link hub, respectively, and an intermediate link member having its opposite ends rotatably connected with the other ends of the proximal end side and distal side end link members;
• a geometric model of the link mechanism depicted in line is a parallel link mechanism in which a proximal end side portion and a distal end side portion represent a symmetric shape relative to an intermediated portion of the intermediate link member;
• the actuator is provided in two or more sets of link mechanism of the three or more sets of the link mechanisms of the parallel link mechanism and is operable to arbitrarily change a distal end orientation, which is an orientation of the distal end side link hub relative to the proximal end side link hub;
• the control device is operable to stipulate the distal end orientation in terms of a bending angle, which is a vertical angle in which a center axis of the distal end side link hub is inclined relative to a center axis of the proximal end side link hub, and an angle of traverse which is a horizontal angle in which the center axis of the distal end side link hub is inclined relative to the center axis of the proximal end side link hub;
• which operating device comprises:
• an orientation designating unit to designate the distal end orientation, which is aimed at, by artificial manipulation at a coordinate position of a two dimensional orthogonal coordinate system that intersects an extended axis of the center axis of the proximal end side link hub with a position of origin lying on the extended axis of the center axis;
• an orientation acquiring unit to acquire from the coordinate position, designated by the orientation designating unit, the distal end orientation that is expressed by the bending angle and the angle of traverse by means of a calculation;
• and
• an orientation information applying unit to apply information on the distal end orientation, which has been acquired by the orientation acquiring unit, to the control device.