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    PARALLEL LINK MECHANISM
    1.
    发明公开
    PARALLEL LINK MECHANISM 审中-实审

    公开(公告)号：EP4406710A1

    公开(公告)日：2024-07-31

    申请号：EP22872473.8

    申请日：2022-06-07

    申请人： NSK Ltd.

    发明人： CHIBA, Haruaki ,  TESHIGAWARA, Seiichi

    IPC分类号： B25J11/00 ,  F16H21/46

    CPC分类号： F16H21/46 ,  B25J11/00

    摘要： A parallel link mechanism includes three or more link mechanisms that couple a fixed base and an end-effector base. The end-effector base has a facing surface facing the fixed base. The link mechanisms each include a proximal-end joint, a proximal link, an intermediate joint, a distal link, and a distal-end joint. The proximal-end joint is rotatably coupled to the fixed base. The proximal link is coupled to the proximal-end joint. The intermediate joint is provided to the proximal link. The distal link is rotatably coupled to the proximal link via the intermediate joint. The distal-end joint rotatably couples the distal link to the end-effector base. The point of intersection at which the extensions of the axes of rotation of the proximal-end joints, the extensions of the axes of rotation of the intermediate joints, and the extensions of the axes of rotation of the distal-end joints intersect is the center of rotation of the end-effector base. The center of rotation of the end-effector base is positioned in a first direction with respect to the facing surface.

    FORCE SENSOR
    3.
    发明公开
    FORCE SENSOR 审中-公开
    KRAFTSENSOR

    公开(公告)号：EP3067679A1

    公开(公告)日：2016-09-14

    申请号：EP14860106.5

    申请日：2014-11-04

    申请人： NSK Ltd.

    发明人： TESHIGAWARA, Seiichi ,  TOBITA, Kazuteru ,  KUWAHARA, Masaki

    IPC分类号： G01L5/16

    摘要： A force sensor includes: a base; a first movable portion arranged to face the base; a second movable portion arranged to face the first movable portion; a support that is provided on the base and rockably supports the first movable portion and the second movable portion; a joint that is provided to the support and rotatably supports the second movable portion; and a first detection unit that can detect a force component causing the first movable portion and the second movable portion to rock and a second detection unit that can detect a force component causing the second movable portion to rotate, when external force is applied to at least one of the first movable portion and the second movable portion.

    摘要翻译： 力传感器包括：基座; 布置成面向基部的第一可移动部分; 布置成面对第一可动部的第二可动部; 设置在基座上并支撑第一可移动部分和第二可移动部分的支撑件; 接合部，其设置在所述支撑体上并可旋转地支撑所述第二可动部; 以及第一检测单元，其能够检测使所述第一可动部和所述第二可动部摇动的力分量，以及第二检测单元，当外力至少施加至少时，能够检测使所述第二可动部转动的力分量 第一可移动部分和第二可移动部分中的一个。