Diagnostic device for link actuation device
A diagnostic device is to be used for a link actuation device. A distal end side link hub to be coupled to a proximal end side link hub via three or more link mechanisms such that posture of the distal end side link hub is changeable. Each of the three or more link mechanisms is to be associated with a respective one of actuators. A predetermined action is to be carried out under a predetermined condition by driving each of the actuators. A preload applicator is to cause a preload to be applied to the link actuation device. A torque detector is to detect a drive torque of each of the actuators while a preload is being applied. A determiner is to determine whether or not the torque that is detected by the torque detector lies within a predetermined range. A notifier is to notify the determination result.
1. An apparatus for a link actuation device, the link actuation device including:
a proximal end side link hub;
a distal end side link hub;
three or more link mechanisms, the distal end side link hub being coupled to the proximal end side link hub via the three or more link mechanisms such that posture of the distal end side link hub can be changed; and
posture control actuators that cooperate to arbitrarily change distal end posture which is defined as posture of the distal end side link hub, relative to the proximal end side link hub, each of the three or more link mechanisms being associated with a respective one of the posture control actuators,
wherein each of the link mechanisms includes:
a proximal side end link member having opposite ends, one end of the opposite ends being pivotably coupled to the proximal end side link hub;
a distal side end link member having opposite ends, one end of the opposite ends being pivotably coupled to the distal end side link hub; and
an intermediate link member having opposite ends that are pivotably coupled to the other end of the opposite ends of the proximal side end link member and the other end of the opposite ends of the distal side end link member, respectively,
the apparatus comprising a computer configured to:
cause each of the actuators to be driven to apply a preload to the link actuation device;
detect a drive torque of each of the actuators;
determine whether or not the drive torque of each of the actuators, that is detected as the link actuation device carries out a predetermined action under a predetermined condition, lies within a predetermined range; and
send a notification to a notification content display, the notification indicating a determination result.
2. The apparatus for the link actuation device as claimed in claim 1 , wherein
the predetermined condition includes at least one of: that the preload is applied; that a load acting on the distal side end link member in the link actuation device lies within a defined range; and that a velocity, at which the distal side end link member moves, lies within a defined range, and
the predetermined action includes that the link actuation device moves through a predetermined path.
3. The apparatus for the link actuation device as claimed in claim 1 , wherein
the predetermined condition includes that the preload is applied, and
the predetermined action includes that the link actuation device is positioned.
4. The apparatus for the link actuation device as claimed in claim 1 , wherein each of the actuators comprises an electric servo motor.
5. The apparatus for the link actuation device as claimed in claim 1 , wherein
application of the preload to the link actuation device comprises positioning the link actuation device in an initial posture thereof, and effecting for each one of pairs formed by elements composing the link actuation device, which elements are movable to each other in response to actuation of the actuators, to be applied a force such that each movable member is brought closer to the other member within an allowance in the each one of the pairs.
6. The apparatus for the link actuation device as claimed in claim 1 , the computer being further configured to:
store the number of times in which it has been determined to lie outside the predetermined range, and, send a notification different from said notification if the number of times, in which it has been determined to lie outside the predetermined range, exceeds a threshold.
7. The apparatus for the link actuation device as claimed in claim 1 , the computer being further configured to:
store the duration of a period for which it has been determined to lie outside the predetermined range, and send a notification different from said notification if the duration of the period, for which it has been determined to lie outside the predetermined range, is shorter than a threshold.
8. The apparatus for the link actuation device as claimed in claim 1 , wherein the notification content display comprises an operation panel equipped to an operation console for operating the link actuation device.