Link actuation apparatus
A link actuation apparatus includes: a parallel link mechanism including a proximal-side link hub, a distal-side link hub, and three or more link mechanisms each coupling the distal-side link hub to the proximal-side link hub such that a posture of the distal-side link hub can be changed relative to the proximal-side link hub; posture control drive sources; and a control device. The control device includes an abnormality detector including: a measurement section configured to measure a predetermined state value which is affected by abnormality in revolute pair parts of a link actuation apparatus body constituted by the parallel link mechanism and the posture control drive sources; and a determination section configured to determine if any of the revolute pair parts has abnormality in on the basis of a measurement result obtained by the measurement section. For example, the measurement section measures rigidity, or driving torque or the like.
1. A link actuation apparatus comprising:
a parallel link mechanism including a proximal-side link hub, a distal-side link hub, link mechanisms each coupling the distal-side link hub to the proximal-side link hub such that a posture of the distal-side link hub is changeable relative to the proximal-side link hub, and revolute pair parts which serve as connections in the link mechanisms;
posture control drive sources configured to arbitrarily change the posture of the distal-side link hub relative to the link mechanisms; and
a control device configured to control the posture control drive sources,
wherein the control device includes an abnormality detector to:
to measure rigidity of a link actuation apparatus body constituted by the parallel link mechanism and the posture control drive sources, which rigidity represents difficulty in changing the posture of the link actuation apparatus body; and
determine if the link actuation apparatus body has abnormality in any of the revolute pair parts based on rigidity obtained.
2. The link actuation apparatus as claimed in claim 1 , wherein the abnormality detector is configured to measure a natural frequency of the link actuation apparatus body and estimate the rigidity based on the natural frequency.
3. The link actuation apparatus as claimed in claim 1 , wherein the abnormality detector is configured to measure torque of the posture control drive sources and estimate the rigidity of the link actuation apparatus body based on the measured torque.
4. The link actuation apparatus as claimed in claim 1 , wherein the abnormality detector includes:
a storage section configured to store state values of the link actuation apparatus body in a plurality of postures, which are obtained when respective revolute pair parts of the link actuation apparatus body are in a normal state, and
the abnormality detector is configured to compare a state value measured to the stored state values in the plurality of postures to determine the abnormality.
5. The link actuation apparatus as claimed in claim 1 , wherein the control device includes an abnormality determination motion command configured to drive the posture control drive sources such that the link actuation apparatus body assumes a predetermined posture for abnormality determination.