- 专利标题: Link actuation apparatus
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申请号: US17616607申请日: 2020-05-29
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公开(公告)号: US11691276B2公开(公告)日: 2023-07-04
- 发明人: Akihiro Hayashi , Hirofumi Fukumaru , Toshiki Takagi , Kenzou Nose , Hideki Matsuzawa
- 申请人: KYUSHU INSTITUTE OF TECHNOLOGY , NTN CORPORATION
- 申请人地址: JP Fukuoka
- 专利权人: KYUSHU INSTITUTE OF TECHNOLOGY,NTN CORPORATION
- 当前专利权人: KYUSHU INSTITUTE OF TECHNOLOGY,NTN CORPORATION
- 当前专利权人地址: JP Fukuoka; JP Osaka
- 代理机构: McDermott Will & Emery LLP
- 优先权: JP 2019105693 2019.06.05
- 国际申请: PCT/JP2020/021339 2020.05.29
- 国际公布: WO2020/246384A 2020.12.10
- 进入国家日期: 2021-12-03
- 主分类号: B25J9/16
- IPC分类号: B25J9/16 ; B25J9/00 ; B25J9/10 ; F16H21/46
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.
公开/授权文献
- US20220234199A1 LINK ACTUATION APPARATUS 公开/授权日:2022-07-28
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