WORK DEVICE USING PARALLEL LINK MECHANISM

WORK DEVICE USING PARALLEL LINK MECHANISM

The parallel link mechanism is applied to a work device (1) in which a link actuation device (7) and a combined-side actuator (71) are combined. A control device (2) includes a storage (3) that stores a plurality of work coordinates as well as a work-point movement velocity as a target velocity of a...

Ausführliche Beschreibung

Gespeichert in:
Bibliographische Detailangaben
Hauptverfasser: ISOBE, Hiroshi, MARUI, Naoki
Format: Patent
Sprache:eng ; fre ; ger
Schlagworte:
CHAMBERS PROVIDED WITH MANIPULATION DEVICES
HAND TOOLS
MANIPULATORS
PERFORMING OPERATIONS
PORTABLE POWER-DRIVEN TOOLS
TRANSPORTING
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Beschreibung
Zusammenfassung:The parallel link mechanism is applied to a work device (1) in which a link actuation device (7) and a combined-side actuator (71) are combined. A control device (2) includes a storage (3) that stores a plurality of work coordinates as well as a work-point movement velocity as a target velocity of an end effector (6) and a posture change velocity as a target angular velocity to be set for changing the posture of the end effector (6). A controller (4) includes a switching function unit (4a) that switches the target velocity used for calculating movement velocities of the respective posture control actuators (11-1, 11-2, 11-3) and a movement velocity of the combined-side actuator (71), to the work-point movement velocity and to the posture change velocity.