Combination type link actuation device
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United States of America Patent
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Aug 27, 2019
Grant Date -
Jul 26, 2018
app pub date -
Mar 22, 2018
filing date -
Sep 24, 2015
priority date (Note) -
In Force
status (Latency Note)
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Abstract
A combination link actuation device has two link actuation devices combined with each other. Each link actuation device is provided so as to connect a distal end side link hub to a proximal end side link hub such that an orientation of the distal end side link hub is changed relative to the proximal end side link hub through three link mechanisms aligned in a circumferential direction. An orientation controlling actuator is provided in two or more link mechanisms among the three link mechanisms to optionally change an orientation of the distal end side link hub relative to the proximal end side link hub. At least one circumferential separation angle among separation angles of the three link mechanisms is greater than 120°. The two link actuation devices are disposed such that portions, of the link mechanisms, where the separation angle is greater than 120° oppose each other.
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