LINK ACTUATION APPARATUS

LINK ACTUATION APPARATUS

A link actuation apparatus (50) that actuates a parallel link mechanism (1) where a spherical drive mechanism is constructed includes a controller (100) configured to calculate, based on spherical trigonometry, an attitude of a second link hub (3) from angles βA1 and βA2 that represent the attitude...

Ausführliche Beschreibung

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Bibliographische Detailangaben
Hauptverfasser: FUKUMARU, Hirofumi, HAYASHI, Akihiro, NOSE, Kenzou, TAKAGI, Toshiki, MATSUZAWA, Hideki
Format: Patent
Sprache:eng ; fre ; ger
Schlagworte:
BLASTING
CHAMBERS PROVIDED WITH MANIPULATION DEVICES
ENGINEERING ELEMENTS AND UNITS
GEARING
GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVEFUNCTIONING OF MACHINES OR INSTALLATIONS
HAND TOOLS
HEATING
LIGHTING
MANIPULATORS
MECHANICAL ENGINEERING
PERFORMING OPERATIONS
PORTABLE POWER-DRIVEN TOOLS
THERMAL INSULATION IN GENERAL
TRANSPORTING
WEAPONS
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Beschreibung
Zusammenfassung:A link actuation apparatus (50) that actuates a parallel link mechanism (1) where a spherical drive mechanism is constructed includes a controller (100) configured to calculate, based on spherical trigonometry, an attitude of a second link hub (3) from angles βA1 and βA2 that represent the attitude of a first end link member (5) with respect to a first link hub (2) in two of at least three link mechanisms (4). The link actuation apparatus capable of performing forward transformation in real time is thus provided.