Parallel mechanism

A parallel mechanism comprising:

• a base portion;
• an end effecter;
• a bracket to which the end effecter is attached;
• a plurality of actuators attached to the base portion;
• a plurality of arms through which the plurality of actuators and the bracket are coupled together substantially in parallel;
• and
• a control device arranged to control and drive the plurality of actuators;
• wherein
• when the end effecter, in a stopped state, is moved to a target movement position, the control device is arranged to control the plurality of actuators so that a level at which the end effecter is accelerated is higher than a level at which the end effecter is decelerated by:
• storing a predetermined speed control pattern specifying a relationship between a time elapsed from a start of driving the plurality of actuators and a target speed of the end effecter;
• determining the target movement position of the end effecter based on the predetermined speed control pattern;
• determining a target driving position for each of the plurality of actuators according to the target movement position of the end effecter;
• and
• controlling each of the plurality of actuators to match a current position thereof to the respective target driving position.