Link actuation apparatus

A link actuation apparatus comprising:

• a parallel link mechanism including a proximal-side link hub, a distal-side link hub, link mechanisms each coupling the distal-side link hub to the proximal-side link hub such that a posture of the distal-side link hub can be changed relative to the proximal-side link hub, and revolute pair parts which serve as connections in the link mechanisms;
• posture control drive sources configured to arbitrarily change the posture of the distal-side link hub relative to the link mechanisms;
• and
• a control device configured to control the posture control drive sources, wherein
• the control device includes an abnormality detector including:
• a measurement section configured to measure a predetermined state value which is affected by abnormality in the revolute pair parts of a link actuation apparatus body constituted by the parallel link mechanism and the posture control drive sources;
• and
• a determination section configured to determine if the link actuation apparatus body has abnormality in any of the revolute pair parts on the basis of a measurement result obtained by the measurement section.