公开(公告)号：US20230256592A1

公开(公告)日：2023-08-17

申请号：US18027296

申请日：2022-06-07

Applicant: NSK LTD.

Inventor： Haruaki CHIBA ,  Seiichi TESHIGAWARA

IPC: B25J9/10

CPC classification number: B25J9/1065

Abstract: 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.