公开(公告)号：US11858136B2

公开(公告)日：2024-01-02

申请号：US18027296

申请日：2022-06-07

Applicant: NSK LTD.

Inventor： Haruaki Chiba ,  Seiichi Teshigawara

IPC: B25J9/10 ,  B25J9/00

CPC classification number: B25J9/1065 ,  B25J9/0048

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.

公开(公告)号：US09989427B2

公开(公告)日：2018-06-05

申请号：US15032402

申请日：2014-11-04

Applicant: NSK LTD.

Inventor： Seiichi Teshigawara ,  Kazuteru Tobita ,  Masaki Kuwahara

IPC: G01L1/00 ,  G01L1/22 ,  G01L5/16 ,  G01D5/12 ,  G01D5/30

CPC classification number: G01L1/005 ,  G01D5/12 ,  G01D5/30 ,  G01L1/2206 ,  G01L5/166

Abstract: 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.