Link actuation apparatus
摘要:
A link actuation apparatus that actuates a parallel link mechanism where a spherical drive mechanism is constructed includes a controller configured to calculate, based on spherical trigonometry, an attitude of a second link hub from angles βA1 and βA2 that represent the attitude of a first end link member with respect to a first link hub in two of at least three link mechanisms. The link actuation apparatus capable of performing forward transformation in real time is thus provided.
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