Method for initially setting position of origin of link actuators, and link actuator
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United States of America Patent
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Jul 17, 2018
Grant Date -
Aug 14, 2014
app pub date -
Apr 17, 2014
filing date -
Nov 2, 2011
priority date (Note) -
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Abstract
The method for initially setting a position of an origin of an actuator includes a first step of setting a distal end posture being a posture of a distal end side link hub relative to a proximal end side link hub of a link actuator to a specified posture; a second step of applying a preload, which is a force that causes the distal end posture to be changed, to the link actuator having the distal end posture being the specified posture; and a third step of storing an amount of operation of each actuator in a state where the preload is applied to the link actuator, wherein the stored amount of operation is set as the position of the origin of the actuator.
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