JPH04226878A - Motion transmission device - Google Patents

Abstract

PURPOSE:To provide a small-sized and light motion transmission device which can ensure a wide range of operation. CONSTITUTION:A link mechanism 1 (motion transmission device) is composed by arranging a first parallel link 3 and a third parallel link 5 in parallel. Respective rotary link members 27, 29, 31, 33, 35, 37 are connected to connecting members 39, 41, 43 so that they can freely rotate. In such motion transmission device, when the connecting member 39 or 41 is driven in any direction by a distance (n), the connecting member 41 is driven by a distance (nXk) without changing its attitude. (k is a link ratio.)

Description

[Detailed description of the invention]

[Purpose of the invention]

0001

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a motion transmission device that can be used to position a wrist or grip located at the tip of a manipulator.

0002

2. Description of the Related Art A master-slave manipulator is known as a machine for performing work in a dangerous environment or spatially moving dangerous materials in place of a human.

[0003] The master/slave manipulator consists of a master manipulator operated by an operator, and a slave manipulator that actually performs work such as spatially moving an object based on a command signal detected by the operation of this master manipulator. It is configured.

Furthermore, each manipulator includes a position drive shaft for three-dimensionally driving and positioning the wrist;
It is composed of a posture drive shaft that corresponds to the wrist and determines the posture of the wrist portion, and a hand, an operation grip, etc. provided at the tip of this posture drive shaft.

By the way, there are several types of master manipulators or slave manipulators in terms of their axis configurations, such as multi-joint type and orthogonal coordinate type. Various shaft configurations are selected and used depending on the required form of motion transmission.

[0006] When the operation form of the position drive axis is multi-jointed, the first, second, and third axes forming a three-dimensional structure influence each other, so coordinate transformation calculations are required to detect the position of the tip. required. Generally, such coordinate transformation calculations place a burden on the control system, so it is desirable to have a configuration that reduces the burden by minimizing the number of coordinate transformation calculations.

[0007] Therefore, if the position drive axes are all orthogonal coordinates, the first axis, second axis,
The third axes no longer influence each other, and each axis can be driven independently. Therefore, coordinate transformation calculations are not required, and the burden on the control system is reduced.

Further, when the orthogonal coordinate type is adopted, the position control axis and the attitude control axis can be mechanically separated, so even if the position of the tip changes, the attitude does not change. Therefore, from this point of view as well, the coordinate transformation calculations are further reduced. A conventional motion transmission device in which the position drive shaft is of the orthogonal coordinate type will be described with reference to FIG. 18. Figure 18
FIG. 2 is a perspective view showing a state in which a motion transmission device is applied to a master manipulator of the master/slave manipulator.

The master manipulator 200 includes a support block 201 whose side walls are formed by bending both sides at right angles in the same direction, and a pair of guides 203 and a screw shaft 205 that move the top of the support block 201 in a first direction ( The first movable table 20 guided in the Y-axis direction (in FIG. 18)
7 is provided. One side of the screw shaft 205 passes through the side wall of the support block 201, and its tip is connected to the drive shaft of a motor 223 via a belt 222. An encoder 224 is connected to the rear end of the drive shaft of this motor 223. The encoder 224 is designed to detect the moving distance of the first moving table 207 in the Y-axis direction by detecting the amount of rotation of the motor 223 .

A first support block 209 is placed on the first moving table 207 . A pair of guides 211 and a screw shaft 213 are supported on this first support block 209, and the rotation of the screw shaft 213 guides a second moving member 215 in a second direction (Z-axis direction in FIG. 18). be done. One end of the screw shaft 213
It passes through the support block 209 , and its tip is connected to the drive shaft of a motor 225 via a belt 226 . An encoder 228 is connected to the rear end of the drive shaft of the motor 225, and by detecting the amount of rotation of the motor 225, the distance traveled in the Z-axis direction of the second movement 215 is detected. There is.

A second support block 217 is fixed to the second movable table 215. This second support block 217 is moved in a third direction (
The movement guide 2
19 and the screw shaft 221 pass through it. Note that the movement guide 219 is formed into a hollow cylindrical shape. A motor 227 is disposed on the side of the second support block 217, and its drive shaft is connected to a screw shaft 221 supported within the second support block 217 through a nut and belt (not shown). connected. motor 227
An encoder 230 is connected to the rear end of the drive shaft. This encoder 230 detects the amount of rotation of the motor 227 and detects the moving distance of the moving guide 219 and the screw shaft 221 in the X-axis direction.

An operating section 229 is supported at one end of the moving guide 219. The operating section 229 is composed of a pair of U-shaped members 231 and 233 whose ends are rotatably connected to each other, and a grip 235 supported by the U-shaped member 233. Also, grip 2
35 is rotatable in each of the θx, θy, and θz directions shown in FIG.

A motor 241 and an encoder 249 are arranged at the other end of the moving guide 219. The drive shaft of the motor 241 is connected to the movement guide 219
It is connected to a connecting shaft (not shown) that is rotatably supported in a hollow space inside. As a result, the drive shaft of the motor 241 is rotated by the driving force of the motor 241, and the amount of rotation of the U-shaped member 231 fixed to the other end of the connecting shaft in the θx direction is detected.

A force detector (not shown) is embedded in the grip 235. For example, when the operator applies force (torque) in the θx direction in an attempt to rotate the grip 235 in the θx direction, this force is detected by the force detector, and based on the detection result, the motor 241 is driven and the grip 235 is rotated in the θx direction.
is rotated in the θx direction.

Furthermore, the U-shaped member 231 and the U-shaped member 2
A motor 237 and an encoder 243 are arranged at the connection portion with 33. This encoder 243 detects the amount of rotation of the grip 235 in the θy direction.

Further, a motor 239 and an encoder 245 are arranged on the lower surface side of the U-shaped member 233. This encoder 245 is the θ of the grip 235
Detects the amount of rotation in the z direction. The drive shaft of the motor 239 is connected to the grip 235.

[0017] Furthermore, the master manipulator 200 is
, Z, and X-axis directions, the translational direction of the grip 235 is similarly detected by the force detector embedded in the grip 235, and the motors 223, 225, 227 are controlled based on this detection result. is driven to rotate.

In the conventional master manipulator 200 configured as described above, the operator holds the grip 235 in the
, Y, Z axis direction, θx, θy, θz direction,
The operating force in each direction is detected by a force detector. Then, based on the detection signal from the force detector, the motor 22
3,225,227,237,239,241 are rotationally driven, and encoders 224,228,230,243
, 245, 249, the amount of rotation is detected. This detection signal is sent as a command signal to the slave manipulator, and the slave manipulator is driven.

However, in the orthogonal coordinate type manipulator, it is generally necessary to ensure the length of the linear motion mechanism of the drive unit for the necessary operating range. As a result, the axial length of each of the three orthogonal axes becomes long, resulting in a problem that the manipulator inevitably becomes larger and heavier.

[0020]

[Problem to be Solved by the Invention] As described above, in conventional motion transmission devices used in manipulators, etc., it is advantageous to adopt the orthogonal coordinate type in order to reduce the amount of calculations related to coordinate transformation. . However, it is necessary to ensure the length of the linear motion mechanism of the drive part for the necessary operating range, and the axial length of each of the three orthogonal axes becomes long, which inevitably increases the size of the motion transmission device. There was a problem that the weight was increased.

The present invention has been made to solve these conventional problems, and aims to provide a motion transmission device that is small and lightweight, yet can ensure a wide range of motion. [Structure of the invention]

[0022]

[Means for Solving the Problems] In order to achieve the above object, the present invention includes a first link member, a second link member rotatably connected to the first link member by a first rotating part, , a third link member rotatably connected to an intermediate portion of the first link member and a second rotating portion, and a third link member rotatably connected to the third link member and a third rotating portion, and the second link member a fourth link member rotatably connected at a fourth rotating part in an intermediate portion of the fourth link member; and a fifth rotating part formed on an extension line connecting the first rotating part and the second rotating part of the first link member. and a sixth rotating part formed on an extension line of the first rotating part and the fourth rotating part of the second link member,
a first rotating link member that supports the third rotating section and is rotatably connected to the third rotating section about a direction perpendicular to the axial center direction of the third rotating section; a second rotating link member that supports the fifth rotating section and is rotatably connected to the fifth rotating section about a direction perpendicular to the axial center direction of the fifth rotating section, and a second rotating link member that supports the sixth rotating section; , and a motion transmission device having a link mechanism including a third rotary link member rotatably connected to the sixth rotary part about a direction perpendicular to the axial center direction of the sixth rotary part, Multiple sets of link mechanisms are arranged in parallel, and a third
The motion transmission device has a structure in which rotating link members are rotatably connected to each other by a first connecting member.

[0023]

[Operation] According to the present invention configured as described above, each first
When the rotating link member or each second rotating link member is translated by the same amount in the same direction, the plurality of link mechanisms perform the same movement. Then, the displacement of the third rotating link member is expanded. Thereby, a motion transmission device is realized that can secure a wide range of motion while suppressing the amount of movement of the first rotary link member and the second rotary link member.

[0024]

DESCRIPTION OF THE PREFERRED EMBODIMENTS The motion transmission device of the present invention will be described in detail below with reference to the drawings. FIG. 1 is a perspective view showing a first embodiment of a motion transmission device. In addition, in FIG. 1, X,
The Y and Z axes represent the orthogonal drive axes of the motion transmission device.

The link mechanism 1 (motion transmitting device) is composed of a pair of parallel links 3 and 5. As shown in the figure, the first parallel link 3 is a first link member 7.
One end of the second link member 9 is connected to the second link member 9 via the first rotating part 11.
It is rotatably connected.

The longitudinally intermediate portion of the first link member 7 is rotatably connected to one end of the third link member 13 via a second rotating portion 15. The other end of the third link member 13 is rotatably connected to one end of the fourth link member 17 via the third rotating portion 19 . The other end of the fourth link member 17 is rotatably connected to the second link member 9 at a fourth rotating portion 21 located at a longitudinally intermediate portion.

The third link member 13 and the fourth link member 17 are arranged parallel to the first link member 7 and the second link member 9, respectively, and constitute a pantograph type parallel link.

A fifth rotating section 23 is provided on an extension line connecting the first rotating section 11 and the second rotating section 15 of the first link member 7 . Further, a sixth rotating section 25 is provided on an extension line connecting the first rotating section 11 and the fourth rotating section 21 of the second link member 9 .

These fifth rotating section 23, sixth rotating section 25,
The third rotating portion 19 is provided with a second rotating link member 27, a third rotating link member 31, and a first rotating link member 29 whose axial centers intersect at right angles to these members.

FIG. 2 is a perspective view showing the first parallel link 3. As shown in the figure, the axial center of the first rotating section 11 is B, the axial center of the second rotating section 15 is A, the axial center of the fourth rotating section 21 is C, and the axial center of the third rotating section 19 is D. , the axial center of the fifth rotating part is E, the axial center of the sixth rotating part 25 is F, the axial center of the second rotating link member 27 is H, the axial center of the first rotating link member 29 is G, the third rotating link Assuming that the axial center of the member 31 is I, the distance between the axes of each rotating part is set to the following condition. (Note that here, for example, "AB" refers to the first rotating part 1
1 and the second rotating part 15. )

[
On the other hand, the second parallel link 5 has the same structure as the first parallel link 3. The first link member 7a and the second link member 9a are rotatably connected by a first rotating portion 11a. On the other hand, the first link member 7a and the second link member 9a
A third link member 13a and a fourth link member 17a, which are rotatably connected by a third rotating part 19a, are arranged parallel to the second rotating part 15a and a fourth rotating part 21, respectively.
A is rotatably connected to form a pantograph-type parallel link.

Furthermore, on the extension line connecting the first rotating part 11a and the second rotating part 15a of the first link member 7a,
A fifth rotating portion 23a is formed, and a sixth rotating portion 25a is formed on an extension of the straight line connecting the first rotating portion 11a and the fourth rotating portion 21a of the second link member 9a.

[0033] Also, the third rotating part 19a and the fifth rotating part 2
3a and the sixth rotating part 25a, the first rotating link member 35, the second rotating link member 33, and the third rotating link member 3
7 are connected. These rotating link members 33, 3
5, 37 are rotating link members 27, 2 of the first parallel link.
It is longer than 9.31. Further, each second rotating link member 27, 33 is rotatably connected to a connecting member 39, and each first rotating link member 29, 35 is
Each is rotatably connected to a connecting member 41. Furthermore, each of the third rotating link members 31 and 37 is rotatably connected to the first connecting member 43, respectively.

[0034] Also, the axial center A to I of the first parallel link 3
The center of each axis of the second parallel link 5 is set at A' so as to correspond to
~I', the distance between the axes of each rotating part is set to the following conditions, similar to the first parallel link 3. Further, the relationship between each rotating portion of the first parallel link 3 and each rotating portion of the second parallel link 5 is set to the following conditions. In other words, the first parallel link 3 and the second parallel link 5 are
The connecting member 39,
41 , and is rotatably connected to the first connecting member 43 .

Next, the connecting member 39 of the first parallel link 3
Movement and movement range S1 to S3 when the connecting member 41 is translated in the Z-axis direction and in the X-axis and Y-axis directions
(However, S1 and S2 are the same size) as shown in Fig. 3(a).
This will be explained using the schematic diagrams shown in (b) and (c). In FIG. 3, the same components as in FIG. 2 are given the same reference numerals.

FIG. 3(a) shows the motion in the X-axis direction and the motion range S1 on the XZ plane. The third rotating unit 19 is moved by a distance n to the right (X-axis direction) in the paper of FIG. As a result, the first parallel link 3 opens and the sixth rotating portion 25 moves by a distance (n×k) to the right in the paper of FIG. 3(a), as shown by the chain line. In other words, the moving distance of the sixth rotating section 25 is expanded to k times the moving distance of the third rotating section 19.

FIG. 3(b) shows the movement in the Z-axis direction and the movement range S2 in the XZ plane. When the fifth rotating section 23 is moved from the state shown by the solid line by a distance n toward the top of the page (Z direction) in FIG. 3(b), the sixth rotating section 25 moves by a distance (n −1)) downwards (in the Z direction) on the paper in FIG. 3(c). In other words, the moving distance of the sixth rotating section 25 is the moving distance of the fifth rotating section 23 in the opposite direction to the moving direction of the fifth rotating section 23 (k-
1) It will be enlarged twice.

Further, FIG. 3(c) shows the movement in the Y-axis direction and the movement range S3 on the XY plane. The first rotating link member 29 is moved from the state shown by the solid line in FIG.
), the third rotary link member 31 moves a distance (n x k) downward (in the Y-axis direction) in the paper of FIG. 3(c), as shown by the chain line. )
Move to. In other words, the moving distance of the third rotating link member 31 is expanded to k times the moving distance of the first rotating link member 29. Furthermore, the operating range of the tip of the third rotating link member 37 of the second parallel link 5 is also shown in FIGS. 3(a), (b), and (c).
The operating range S1 to S3 is indicated by the two-dot chain line. Next, the operation of this embodiment will be explained.

The first parallel link 3 configured as described above
And the second parallel link 5 is connected to the third rotating part 19 by moving the connecting member 41 by a distance n in the X-axis direction.
, 19a in the same direction by the same amount, the sixth rotating parts 25, 25a move in the same direction by k times the moving distance of the connecting member 41. Therefore, the first connecting member 43 connecting the sixth rotating parts 25 and 25a moves by a distance (n×k) in the same direction while maintaining its posture.

Furthermore, when the connecting member 39 is moved by a distance n in the Z-axis direction and the fifth rotating parts 23, 23a are moved by the same amount in the same direction, the sixth rotating parts 25, 25a are moved by the connecting member 3.
9 moves in the opposite direction by (k-1) times the moving distance. Therefore, the first connecting member 43 moves by a distance (n×(k-1)) in the opposite direction while maintaining its posture.

Furthermore, the connecting member 41 is moved by a distance n in the Y-axis direction.
When the first rotary link members 29, 35 are moved by a distance n, the third rotary link members 31, 37 are moved by k times the moving distance of the connecting member 41 in the same direction. Therefore, the first connecting member 43 moves by a distance (n×k) in the same direction while maintaining its posture.

In other words, even if the connecting member 41 is moved in any direction with the connecting member 39 fixed, the first connecting member 43 will remain the same for a distance k times the amount of movement of the connecting member 41 while maintaining its posture. move in the direction.

Similarly, even if the connecting member 39 is moved in any direction with the connecting member 41 fixed, the first connecting member 43 will move by the amount (k) of the movement of the connecting member 39 while maintaining its posture.
-1) Move twice the distance in the opposite direction. Therefore, a wide range of motion can be ensured while keeping the amount of movement of the first rotating link member 7 and the second rotating link member 9 small. Next, as a second embodiment of the present invention, a master manipulator 45 to which the link mechanism 1 based on the above principle is applied will be described with reference to FIGS. 4 and 5. FIG. 4 is a perspective view showing a master manipulator according to a second embodiment of the present invention, and FIG. 5 is a perspective view schematically representing the master manipulator of FIG. 4.

As shown in FIG. 4, the master manipulator 45 has parallel links 3 of the parallel link mechanism 1.
A first parallel link 53 and a second parallel link 55 are provided as members corresponding to the parallel link 5 .

The first parallel link 53 includes a first link member 57 corresponding to the first link member 7 and a second link member 59 corresponding to the second link member 9, which are connected to the first rotating part 11. They are rotatably connected by corresponding first rotating parts 61.

A third link member 63 corresponding to the third link member 13 is rotatably connected to the first link member 57 via a second rotating part 65 corresponding to the second rotating part 15. . The fourth link member 67 corresponds to the third link member 63 and the fourth link member 17.
It is rotatably connected via a third rotating section 69 corresponding to the rotating section 19 . The fourth link member 67 is connected to the second link member 5 at a fourth rotating section 71 corresponding to the fourth rotating section 21.
It is rotatably connected to 9.

The first link member 57 also has the fifth
A fifth rotating section 73 corresponding to the rotating section 23 is provided, while a sixth rotating section 75 corresponding to the sixth rotating section 25 is provided on the second link member 59.

Further, a second rotary link member 77 corresponding to the second rotary link member 27 and a first rotary link member 79 corresponding to the first rotary link member 29 are connected to the third rotary link member 31. A corresponding third rotating link member 81 is provided, respectively.

On the other hand, the second parallel link 55 arranged parallel to the first parallel link 53 has a first link member 57a and a second link member 59 corresponding to each part of the first parallel link 53.
a, third link member 63a, fourth link member 67a
However, the first rotating section 61a, the second rotating section 65a, and the third rotating section
The rotating portion 69a and the fourth rotating portion 71a are rotatably connected to each other.

Further, a fifth rotating portion 73a is formed on the extension line connecting the first rotating portion 61a and the second rotating portion 65a of the first link member 57a, and the first rotation of the second link member 59a is part 61a and fourth rotating part 71a
A sixth rotating portion 75a is formed on the extended line connecting the two.

Furthermore, the fifth rotating portion 73a has a second rotating link member 7 corresponding to the second rotating link member 77.
A second rotating link member 83 longer than 7 is connected. Further, the first rotating link member 79 is connected to the first rotating member 85 by a connecting member 91, and the third rotating link member 81 and the third rotating link member 85 are connected to each other by a connecting member 91.
The rotating link members 87 are connected by a first connecting member 93.

Furthermore, in this embodiment, the first parallel link 5
The first rotating portion 61 of No. 3 and the first rotating portion 61a of the second parallel link 55 are rotatably connected via a connecting member 95. Therefore, the mounting rigidity of the first parallel link 53 and the second parallel link 55 is greater than that in the case where the connecting member 95 does not exist.

A U-shaped block 99 is disposed on the side of the base 97 with one side wall fixed on the base 97. A screw shaft 101 is rotatably supported on both side walls of this U-shaped block 99.

The moving part 103 is formed integrally with the connecting member 89, and a nut (not shown) is provided inside the moving part 103. The screw shaft 101 is screwed into the moving part 103 through this nut.

Furthermore, a linear guide 105 is arranged between both side walls of the U-shaped block 99. This linear guide 105 has a moving part 10 that is threadedly engaged with the screw shaft 101.
3 is fitted so as to be movable in the longitudinal direction of the screw shaft 101.

One end of the screw shaft 101 and the drive shaft of the motor 107 are connected by a transmission means (not shown). Then, the rotational driving force of the motor 107 is transmitted, the screw shaft 101 rotates, and the moving part 103 moves the linear guide 1
Move along 05.

Furthermore, an encoder 109 is connected to the rear end of the drive shaft (not shown) of the motor 107 . This encoder 109 detects the moving distance of the moving unit 103 by detecting the amount of rotation of the motor 107.

A constant force spring device 161 is also mounted on the base 97 to compensate for the weight of the operating section 121, which will be described later.
is provided. The constant force spring device 161 has a shaft 163
It has a configuration in which one end of a constant force spring 165 wound around the center is fixed to the moving part 103.

Further, a support block 111 having a U-shaped upper part is arranged at the center of the base 97. A screw shaft 11 is provided between both side walls of this support block 111.
3 are placed.

The moving part 115 is formed integrally with the connecting member 91, and a nut (not shown) is provided inside the moving part 115. The screw shaft 113 is screwed into the moving part 115 through this nut.

One end of this screw shaft 113 is connected to the drive shaft of a motor 117 by a transmission means (not shown), and the rotational driving force of the motor is transmitted, the screw shaft 113 rotates, and the moving part 115 moves linearly. It moves along the guide 118. Further, an encoder 119 is connected to the drive shaft of the motor 117. This encoder 119
detects the amount of rotation of the motor 117 and moves the moving part 115
Detect the distance traveled.

[0062] The support block 111 is connected to the moving part 153.
It is fixed to. This moving part 153 is based on the base 97
It is screwed into a screw shaft 157 disposed between both side walls of a support block 155 placed above through a nut (not shown). Further, the lower part of the moving part 153 is fitted into a linear guide 160 fixed to the support block 155 so as to be movable in the longitudinal direction of the screw shaft 157.

One end of this screw shaft 157 passes through one side wall of the support block 155, and its tip is connected to the drive shaft of a motor 159 by a transmission means (not shown). As a result, the transmitted motor 159
The screw shaft 157 is rotationally driven by the rotational driving force of the screw shaft 157, and the moving part 153 is moved in the axial direction of the screw shaft 157.

[0064] An operating section 121 is connected to the first connecting member 93. This operation part 121 connects one end of two L-shaped plates 123 and 125 rotatably in the θy direction, and connects the other end of the plate 123 to a first connecting member 93 for rotation in the θx direction. They can be freely connected. The other end of the plate 123 is connected to a drive shaft of a motor 127 through a belt (not shown), so that the rotation of the motor 127 causes the plate 123 to rotate in the θx direction. Further, an encoder 131 is connected to the motor 127, and the rotation angle of the plate 123 is detected by detecting the amount of rotation of the motor 127.

The connecting portion between the plates 123 and 125 is connected to the drive shaft of a motor 133 by a belt (not shown), so that the rotation of the motor 133 causes the plate 125 to rotate in the θy direction.

A cylindrical grip 135 is fixed to the intermediate portion of the plate 125. This grip 13
5 is rotatably attached to the plate 125. The lower part of this grip 135 is the plate 12
5 and is connected to the drive shaft of the motor 137 via a belt (not shown). Also, grip 1
35 is rotatable in each direction of θx, θy, and θz, as shown in FIG.

Furthermore, a six-axis force sensor (not shown) is arranged inside the grip 135. The six-axis force sensor detects forces in the X, Y, and Z axis directions and torques in the θx, θy, and θz directions. The results detected by the force sensor are transmitted to a control device (not shown), and the control device drives each motor based on the results. Next, the operation of the master manipulator 45 will be explained.

First, when a force is applied to the grip 135 in the X-axis direction, the force sensor detects this force. This detection result is transmitted to the control device, and the control device operates the motor 159. Then, when the grip 135 is moved by a distance n in the X-axis direction, the connecting member 91 is moved a distance (n/k)
move in the same direction. That is, when the connecting member 91 is moved by a distance n, the grip 135 is moved by a distance (n×k
) and move it. This moving distance is encoder 1
Detected by 61. This signal indicating the detected moving distance becomes a command signal to the slave manipulator.

Furthermore, when a force in the Y-axis direction is applied to the grip 135, this is detected by the force sensor, and the motor 117 is operated by the control device. Then, when the grip 135 is moved by a distance n in the Y-axis direction,
The connecting member 91 moves in the same direction by a distance (n/k).

The movement of the motor 117 causes the moving block 115 to move in the longitudinal direction of the screw shaft 113. Also, the rotation amount of this motor 117 is determined by the encoder 11
9 is detected and transmitted to the control device, and becomes a command signal to the slave manipulator. When a force in the Z-axis direction is applied to the grip 135, this is detected by the force sensor and the motor 107 is activated. When the first connecting member 93 moves by a distance n by this operation, the first connecting member 93 moves a distance (n×(
1-k)). The amount of rotation of the motor 107 is detected by the encoder 109, transmitted to the control device, and becomes a command signal to the slave manipulator.

Therefore, when the connecting members 91, 89 are moved, this movement is expanded and the grip 135 can be moved. Therefore, a wide range of motion of the grip 135 can be ensured, and the grip 135 can be made small and lightweight.

[0072] In this embodiment, a case was explained in which a pair of parallel links (parallel links 3 and 5) was used.
The link mechanism is not limited to this, and the link mechanism may be composed of multiple sets of parallel links. (An example in which multiple sets of parallel links are provided will be explained in a later example.)

Further, in this embodiment, the first rotating portions 61, 61a of the first parallel link 3 and the second parallel link 5 are connected by the connecting member 95, but a structure in which the connecting member 95 is not provided may be used. Further, other rotating parts may be connected to each other by a connecting member.

In this embodiment, an example of application of the bilateral servo system to the master/slave manipulator has been described, so a driving means 96 is provided for force feedback from the slave manipulator to the master manipulator. However, by using the connecting members 89, 91 as guide means such as rails, the driving means 96 can be omitted and the present invention can be applied to a unilateral servo system master/slave manipulator.

Furthermore, in this embodiment, the connecting members 89, 91
was used for driving in the Z and Y axis directions, but for example, the connecting member 89 could be driven in the Y and Z axis directions, and the connecting member 91 could be driven in the X axis direction, or the connecting member 91 could be driven in the X, Y, and Z axis directions. The connecting member 89 may be fixed by driving the connecting member 89, or vice versa. Alternatively, it is not necessary to make all the translations.

Furthermore, when the constant force spring device 161 compensates for the dead weight G [Kgf] of the operating section 121, the force acting on the constant force spring 165 is expressed as (G×(k-1))[K
gf ]. Therefore, it is possible to reduce the operating force and make the operation easier. Furthermore, it is of course possible to apply this embodiment to a slave manipulator.

Next, regarding the third embodiment of the present invention, FIG.
This will be explained using FIG. Link mechanism 3 of this embodiment
01 is one in which an auxiliary link mechanism 303 is provided in the link mechanism 1 described as the first embodiment. As a result, a new parallel link portion is formed by the parallel link 5 and the auxiliary link mechanism 303. Note that FIG. 7 shows the arrow a in FIG. 6.
FIG. 3 is a side view of the auxiliary link mechanism 303 as seen from the direction.

Note that in order to illustrate the auxiliary link mechanism 303, the link mechanism 301 in FIG. 6 is replaced by the link mechanism 1 in FIG.
It is a perspective view seen from the opposite direction. Further, in FIG. 6, the same components as those of the link mechanism shown in FIGS. 1 and 4 are denoted by the same reference numerals in the drawing, and the description thereof will be omitted.

The auxiliary link mechanism 303 connects to the second rotating link member 33 through a fifth auxiliary link member 305 whose one end is rotatably connected to the seventh rotating section 307 and an eighth rotating section 309 . One end is rotatably connected to the other end of the auxiliary link member 305, and the ninth rotating part 3
A sixth auxiliary link member 313 whose other end is rotatably connected to the third rotating link member 37 via 11; and a second connecting member which rotatably connects the first rotating section 11a and the eighth rotating section 309. It consists of 315.

[0080] Furthermore, the axial center of the seventh rotating part 307 is the fifth
It is coaxial with the axial center E of the rotating part 23, and the ninth
The axial center of the rotating part 311 is coaxial with the axial center F of the sixth rotating part 25. However, these axes do not have to be coaxial. Also, the axis center A of parallel link 3
~E, the axial centers A' to E' of the parallel links 5 may or may not be configured coaxially.

Therefore, according to this embodiment, when the connecting member 41 is moved in the X-axis direction and the third rotating parts 19, 19a are moved in the same direction by the same amount, the sixth rotating parts 25, 25
a moves in the same direction by k times the moving distance of the connecting member 41. Therefore, the first connecting portion 43 moves in the X-axis direction by a distance k times the moving distance of the connecting member 41 while maintaining its posture.

[0082] Furthermore, by moving the connecting member 39 by a distance n in the Z-axis direction, the fifth rotating parts 23, 23a and the seventh rotating part 30 are connected.
7 in the Z-axis direction by a distance n, the sixth rotating parts 25, 25a move in the opposite direction by a distance (n×(k-1
)). Therefore, the connecting member 43 moves by a distance (n×(k-1)) in the opposite direction while maintaining its posture.

Furthermore, the connecting member 41 is moved by a distance n in the Y-axis direction.
When the first rotary link members 29, 35 are moved by a distance n in the same direction, the third link members 31, 37 are moved by a distance n.
moves a distance (n×k) in the same direction.

In other words, even if the connecting member 41 is moved in any direction with the connecting member 39 fixed, the first connecting member 43 will move a distance k times the amount of movement of the connecting member 41 while maintaining its posture. move in the same direction. At this time, the ninth rotating portion 311 of the auxiliary link mechanism 303 also moves in the same direction.

Similarly, with the connecting member 41 fixed,
No matter which direction the connecting member 39 is moved, the first connecting member 43 maintains its posture and the first connecting member 43 is moved by the amount of movement of the connecting member 39 (
k-1) times the distance in the opposite direction. Further, in the link mechanism 301 of this embodiment, by providing an auxiliary link mechanism 303, it is possible to improve the assembly accuracy and rigidity of the device.

Next, a fourth embodiment of the present invention will be described using FIGS. 8 and 9. Link mechanism 3 of fourth embodiment
17 is the link mechanism 1 shown in FIG. 1 provided with an auxiliary link mechanism 319 different from the auxiliary link mechanism 301 of the third embodiment. As a result, a new parallel link portion is formed by a portion of the parallel link 5 1 and the auxiliary link mechanism 319 . Note that FIG. 9 is a side view of the auxiliary link mechanism 319 seen from the direction of arrow b in FIG.

The auxiliary link mechanism 319 of the fourth embodiment is as follows:
The first rotating link member 35 via the tenth rotating part 321
The seventh auxiliary link member 323 is rotatably connected to the seventh auxiliary link member 3 via the eleventh rotating part 325.
23 and an eighth auxiliary link member 329 rotatably connected to the third rotating link member 37 via the twelfth rotating section 327;
a and the 11th rotating part 325 in a rotatable manner.
It is composed of a connecting portion 331. Further, the axial centers A' to E' of the parallel links 5 may or may not be coaxial with the axial centers A to E of the parallel links 3.

Therefore, even if the connecting member 41 is moved in any direction with the connecting member 39 fixed, the first connecting member 43 will move a distance k times the amount of movement of the connecting member 41 while maintaining its posture. move in the same direction. At this time, the twelfth rotating portion 327 of the auxiliary link mechanism 317 also moves in the same direction.

Similarly, even if the connecting member 39 is moved in any direction with the connecting member 41 fixed, the first connecting member 43 will move by the amount (k) of the movement of the connecting member 39 while maintaining its posture.
-1) Move twice the distance in the opposite direction. Further, in the link mechanism 317 of this embodiment, the rigidity can be improved by providing an auxiliary link mechanism 319.

Next, a fifth embodiment of the present invention will be described using FIG. 10. The link mechanism 333 of this embodiment is
Parallel link 3 to link mechanism 1 shown in Figure 1
In this example, two sets are provided, and a parallel link 5 is arranged between them with the sixth rotating parts 25, 25a being shifted from each other.

In the link mechanism 33 of this embodiment, a second parallel link 5 is disposed between a pair of parallel links 3. The pair of parallel links 3 are arranged so that their respective sixth rotating parts 25 are coaxial, while the parallel links 5 are arranged offset from the axial center of the sixth rotating parts 25 of the pair of parallel links 3. ing.

The third rotating link member 37 of the parallel link 5 is connected to the first connecting member 43 that connects the third rotating link members 31 of the pair of parallel links 3 to each other. Similarly, the connecting members 41 that connect the first rotating link members 29 each include the first parallel link 5.
A rotary link member 35 is rotatably connected.

Furthermore, the connecting members 39 that respectively connect the second rotating link members 27 of the pair of parallel links 3 include:
A second rotating link member 33 of the parallel link 5 is rotatably connected.

Therefore, even if the connecting member 41 is moved in any direction with the connecting member 39 fixed, the first connecting member 43 will move a distance k times the amount of movement of the connecting member 41 while maintaining its posture. move in the same direction.

Similarly, no matter which direction the connecting member 39 is moved with the connecting member 41 fixed, the first connecting member 4
3 is the amount of movement (k) of the connecting member 39 while maintaining its posture.
-1) Move twice the distance in the opposite direction.

Furthermore, in the link mechanism 333 of this embodiment, its rigidity can be improved by providing a pair of parallel links 3 and a parallel link 5 disposed between them.

Next, a sixth embodiment of the present invention will be described using FIGS. 11 and 12. The link mechanism 337 of this embodiment is the link mechanism 3 of the third embodiment shown in FIG.
A link mechanism 339 different from 01 is provided. Note that FIG. 12 is a side view of the auxiliary link mechanism 339 seen from the direction of arrow c in FIG.

The auxiliary link mechanism 339 includes a ninth auxiliary link member 343 whose one end is rotatably connected to the second rotating link member 33 via a thirteenth rotating portion 341 , and a first
The ninth auxiliary link member 343 via the ninth rotating part 361
a tenth auxiliary link member 345 whose one end is rotatably connected to the other end, and whose other end is rotatably connected to the third rotating link member 37 via a fourteenth rotating part 349;
The tenth auxiliary link member 345 via the rotating part 351
One end is rotatably connected to the intermediate portion of
5, the eleventh auxiliary link member 347 is rotatably connected to
One end of the twelfth auxiliary link member 355 is rotatably connected to the other end of the eleventh auxiliary link member 347 via the sixteenth rotating part 353 , and the other end is connected to the 18th rotating part 359 .
A twelfth auxiliary link member 355 is connected to an intermediate portion of the ninth auxiliary link member 343 through a twelfth auxiliary link member 355.

Further, the axial center of the fourteenth rotating section 349 is coaxial with the axial center of the sixth rotating section 25 of the second link member 9. Further, the thirteenth rotating section 341 is coaxial with the axial center of the fifth rotating section 23. However, these axes do not have to be coaxial.

Further, the link mechanism 339 forms a two-dimensional pantograph type parallel link. Rotating part 359
, 361, 351, 353, 341, 349 correspond to the first to sixth rotating parts, respectively, and the distance between the axes is AB,
Equal to BC, CD, AD, EA, EB, EF.

Therefore, even if the connecting member 41 is moved in any direction with the connecting member 39 fixed, the first connecting member 43 will move a distance k times the amount of movement of the connecting member 41 while maintaining its posture. move in the same direction. At this time, the fourteenth rotating portion 349 of the link mechanism 337 also moves in the same direction.

Similarly, even if the connecting member 41 is fixed and the connecting member 39 is moved in any direction, the first connecting member 43 maintains its posture by the amount (k-1) of the movement of the connecting member 39.
) move twice the distance in the opposite direction. Further, in the link mechanism 337 of this embodiment, by providing an auxiliary link mechanism 339 as in the fifth embodiment, its rigidity can be improved.

Next, FIG. 13 shows a seventh embodiment of the present invention.
Explain using. In the seventh embodiment, a pair of parallel links 3 are arranged with the axes of the sixth rotating part coaxial with each other, and an auxiliary link mechanism 391 is provided on the side surface of these parallel links 3.
is arranged.

The auxiliary link mechanism 391 connects the third rotary link members 31 of the pair of parallel links 3 through a fourth rotary link member 371 rotatably connected to a connecting member 365 that connects the third rotary link members 31 of the pair of parallel links 3 , and a twentieth rotary part 373 . a 15th auxiliary link member 393 whose one end is rotatably connected to the fourth rotating link member 371; and a 21st rotating part 379.
The 14th auxiliary link member 395 is rotatably connected to the other end of the 15th auxiliary link member 393 via the 15th auxiliary link member 393 and the 14th auxiliary link member 395 is rotatably connected to the 5th rotating link member 375 via the 22nd rotating portion 377 . It consists of

[0105] Also, one end of the thirteenth auxiliary link member 383 is attached to the fourth rotating link member 371, and one end of the thirteenth auxiliary link member 383
1 and are rotatably connected. The other end of this thirteenth auxiliary link member 383 has one end connected to the twenty-fifth rotating part 3
the other end of the 16th auxiliary link member 385 rotatably connected to the 5th rotation link member 375 via 97;
They are rotatably connected via a 24th rotating section 387.

Furthermore, one end of a connecting member 389 is rotatably connected to the 24th rotating section 387, and the 21st
The other end of the connecting member 389 is connected via the rotating part 379 to the first
5 auxiliary link member 393 and is rotatably connected.

Therefore, even if the connecting member 367 is moved in any direction while the connecting member 369 is fixed, the first connecting member 365 will move to the connecting member 3 while maintaining its posture.
67 in the same direction as this by a distance k times the amount of movement. At this time, the 20th rotating part 373 and the 23rd rotating part 381 of the 4th rotating link member 371 also move in the same direction.

Similarly, with the connecting member 367 fixed, even if the connecting member 369 is moved in any direction, the first connecting member 365 will move the connecting member 369 while maintaining its posture.
moves in the opposite direction by a distance (k-1) times the amount of movement. Furthermore, the rigidity of the link mechanism 363 of this embodiment can be improved by providing an auxiliary link mechanism 391. Next, regarding the eighth embodiment of the present invention,
This will be explained using FIGS. 14 and 15. Note that FIG. 15 is a side view of the auxiliary link mechanism 403 seen from the direction of arrow d in FIG. The link mechanism 401 shown in FIGS. 14 and 15 includes the auxiliary link mechanism 391 of the seventh embodiment.
A different auxiliary link mechanism 403 is provided.

One end of a seventeenth auxiliary link member 405, which is shorter than the second link member 9 of the parallel link 3, is rotatably connected to the fourth rotating link member 371 via a twenty-ninth rotating portion 421. The other end of this seventeenth auxiliary link member 405 is rotatably connected to one end of a connecting member 409 via a twenty-sixth rotating portion 407 .

The other end of the connecting member 409 is connected to an eighteenth auxiliary link member 413 which is rotatably connected to the fourth rotary link member 371 via a twenty-seventh rotating part 411, and a third rotary link member 413.
They are rotatably connected via a zero-rotation portion 412 . In addition, the connecting member 367 is connected via the 28th rotating section 415.
The 19th auxiliary link member 417 rotatably connected to the 5th rotating link member 375 is the 30th rotating part 412
are rotatably connected via.

Furthermore, the 26th rotating section 407 is rotatably connected to a 20th auxiliary link member 419, which is rotatably connected to the 5th rotating link member 375 of the connecting member 367 by the 31st rotating section 423.

Therefore, even if the connecting member 367 is moved in any direction while the connecting member 369 is fixed, the first connecting member 365 will move to the connecting member 3 while maintaining its posture.
67 in the same direction as this by a distance k times the amount of movement. At this time, the 29th rotating part 421 and the 27th rotating part 411 of the 4th rotating link member 371 also move in the same direction.

Similarly, even if the connecting member 369 is moved in any direction with the connecting member 367 fixed, the first connecting member 365 will move to the connecting member 369 while maintaining its posture.
moves in the opposite direction by a distance (k-1) times the amount of movement. Further, the link mechanism 401 of this embodiment can maintain the posture of the auxiliary link mechanism 365 as in the above embodiment.

Further, in the seventh and eighth embodiments, two parallel links 3 are arranged, but a combination of parallel links 3 and 5 may also be used. That is, the axial centers of the first to sixth rotating parts of each parallel link 3, 5 do not need to be coaxial.

Next, regarding the ninth embodiment of the present invention, FIG.
This will be explained using FIG. The link mechanism 501 of the ninth embodiment has a third link mechanism 1 shown in FIG.
This is an example in which an auxiliary link mechanism 503 different from the auxiliary link 301 of the embodiment is provided. As a result, parallel link 5
A new parallel link portion is formed by a part of the auxiliary link mechanism 503 and the auxiliary link mechanism 503.

The auxiliary link mechanism 503 of the ninth embodiment is as follows:
The second rotating link member 33 via the 29th rotating part 511
The first auxiliary link member 521 is rotatably connected to the first auxiliary link member 521 , and the other end of the 21st auxiliary link member 521 is rotatably supported via the 30th rotating portion 512 , and the first rotating portion 11a is rotatably connected to the first auxiliary link member 521 . Second rotating member 315
and the second connecting member 315 via the 31st rotating part 513
The 22nd auxiliary link member is rotatably connected to the third rotating link member 37 via the 32nd rotating part 514 at the other end.

[0117] Fifth rotating section 23a and 29th rotating section 511
The distance between the axes is between the first rotating part 11a and the 30th rotating part 5.
12 and the center distance between the 29th rotating section 511 and the 30th rotating section 512 is equal to E'B'. In addition, the 30th rotating section 512 and the 31st rotating section 513
The distance between the axes is between the sixth rotating section 25a and the 32nd rotating section 51.
The distance between the axes of the 31st rotating part 513 and the 32nd rotating part 514 is equal to B'F'. Therefore, a plurality of parallel link parts are constituted by a part of the parallel link 5 , the 21st auxiliary link member 521 , and the 22nd auxiliary link member 522 .

[0118] In this way, rather than connecting the fifth auxiliary link member 305 and the sixth auxiliary link member 313 rotatably by the eighth rotating part 309 (in the same rotating part) as shown in the third embodiment, the main By connecting the two auxiliary link members at different rotating parts as in the embodiment, it is possible to secure a wider range of motion in which the posture of the first connecting member 43 is maintained.

[0119] In other words, since each auxiliary link member can be installed at any position, each parallel link part formed by a part of the parallel link 5 and the auxiliary link member can be set independently so that it does not have a singular posture. I can do it.

Similarly, the seventh auxiliary link member 323 and the eighth auxiliary link member 329 shown in the fourth embodiment are
A plurality of auxiliary link members are connected at different rotation parts of the third connection member 331 without being connected at one rotation part 325 (at the same rotation part), and the first rotation link member 35 and the third rotation link member 331 are connected at different rotation parts. The third rotating link member may be connected to the first rotating link member 35 by connecting at a rotating part.

The motion transmission device of the present invention can also be applied to, for example, driving the legs of a walking robot. In this case, the contact surfaces of the legs can always be made parallel to the ground.

[0122]

As described above, according to the motion transmission device of the present invention, it is possible to secure a wide range of motion while suppressing the amount of movement of the first rotary link member and the second rotary link member.

[Brief explanation of the drawing]

FIG. 1 is a perspective view showing a first embodiment of a motion transmission device.

FIG. 2 is a perspective view showing a first parallel link used in the motion transmission device.

FIG. 3 is a schematic diagram showing the operating range of the motion transmission device.

FIG. 4 is a perspective view showing a state in which the motion transmission device is applied to a master manipulator according to a second embodiment of the motion transmission device.

5 is a perspective view schematically representing the master manipulator of FIG. 4. FIG.

FIG. 6 is a perspective view showing a third embodiment of the motion transmission device.

7 is a side view of the auxiliary link mechanism seen from the direction of arrow a in FIG. 6. FIG.

FIG. 8 is a perspective view showing a fourth embodiment of the motion transmission device.

9 is a side view of the auxiliary link mechanism seen from the direction of arrow b in FIG. 8. FIG.

FIG. 10 is a perspective view showing a fifth embodiment of the motion transmission device.

FIG. 11 is a perspective view showing a sixth embodiment of the motion transmission device.

12 is a side view of the auxiliary link mechanism seen from the direction of arrow c in FIG. 11. FIG.

FIG. 13 is a perspective view showing a seventh embodiment of the motion transmission device.

FIG. 14 is a perspective view showing an eighth embodiment of the motion transmission device.

15 is a side view of the auxiliary link mechanism seen from the direction of arrow d in FIG. 14. FIG.

FIG. 16 is a perspective view showing a ninth embodiment of the motion transmission device.

FIG. 17 is a side view showing a ninth embodiment of the motion transmission device.

FIG. 18 is a perspective view showing a state in which a conventional motion transmission device is applied to a master manipulator of master/slave manipulators.

[Explanation of symbols]

1,301,317,333,337,363,401
Link mechanism (motion transmission device) 3, 5 Parallel link 45 Manipulator 53 First parallel link 55 Second parallel link 7, 7a, 57, 57a First link member 9, 9a
, 59, 59a Second link member 13, 13a, 6
3, 63a third link member 17, 17a, 67,
67a fourth link member 303, 319, 339,
391,403 Auxiliary link member 305 5th
Auxiliary link member 313 6th auxiliary link member 323 7th auxiliary link member 329 8th auxiliary link member 343 9th auxiliary link member 345 10th auxiliary link member 347 1st auxiliary link member 355 12th auxiliary link member 383 13th auxiliary link Member 385 14th auxiliary link member 393 15th auxiliary link member 395 16th auxiliary link member 405 17th auxiliary link member 413 18th auxiliary link member 417 19th auxiliary link member 419 20th auxiliary link member 29, 35, 79, 85 First rotating link member 27
, 33, 77, 83 Second rotating link member 31, 3
7, 81, 87 Third rotating link member 371
Fourth rotating link member 375 Fifth rotating link member 39, 41, 89, 91, 93, 95, 335, 365
, 367, 369, 389, 399, 409 Connecting member 43 First connecting member 315 Second connecting member 331 Third connecting member 11, 11a, 61, 61a First rotating part 15, 1
5a, 65, 65a Second rotating part 19, 19a, 6
9, 69a Third rotating part 21, 21a, 71, 71
a Fourth rotating part 23, 23a, 73, 73a
5th rotating section 25, 25a, 75, 75a 6th rotating section 307 7th rotating section 309 8th rotating section 311 9th rotating section 321 10th rotating section 7th rotating section 325 11th rotating section 327 12th rotating section 341 13th rotating section 349 14th rotating section 351 15th rotating section 353 16th rotating section 357 17th rotating section 359 18th rotating section 361 19th rotating section 373 20th rotating section 377 21st rotating section 379 22nd rotating section 381 23rd rotating section 387 24th rotating section 397 25th rotating section 407 26th rotating section 411 27th rotating section 415 28th rotating section

Claims (6)

[Claims] 1. A first link member, a second link member rotatably connected to the first link member and a first rotating portion, and a second link member rotatably connected to an intermediate portion of the first link member and a second rotating portion; a third link member connected to the second link member, and a third link member rotatably connected to the third link member by a third rotating portion
A fifth link member formed on an extension line connecting a fourth link member rotatably connected at a fourth rotating portion in the intermediate portion of the link member, and the first rotating portion and the second rotating portion of the first link member. a rotating part, a sixth rotating part formed on an extension line of the first rotating part and the fourth rotating part of the second link member, supporting the third rotating part, and supporting the third rotating part; a first rotating link member rotatably connected to the third rotating section in a direction perpendicular to the axial center direction; and a first rotating link member supporting the fifth rotating section and extending in the axial center direction of the fifth rotating section; a second rotating link member rotatably connected to the fifth rotating section about a direction perpendicular to the second rotating section; A motion transmission device having a link mechanism including a third rotating link member rotatably connected to the sixth rotating part around
A motion transmission device characterized in that a plurality of sets of the link mechanisms are arranged in parallel, and the third rotating link members are rotatably connected to each other by a first connecting member. [Claim 2] Among the link mechanisms provided in plural sets,
The motion according to claim 1, wherein the axial center of the sixth rotating section of one of the at least two link mechanisms is shifted from the axial center of the sixth rotating section of the other link mechanism. transmission device. [Claim 3] Among the link mechanisms provided in plural sets,
providing an auxiliary link mechanism in at least one set of link mechanisms;
2. The motion transmission device according to claim 1, wherein each link member of the link mechanism and the auxiliary link member are connected to each other so that the posture of the first link member does not change even if the first link member moves. [Claim 4] Among the link mechanisms provided in plural sets,
providing an auxiliary link mechanism in at least one set of link mechanisms;
2. The motion transmission device according to claim 1, wherein each link member of the link mechanism is connected to a plurality of the auxiliary links so that the posture of the first link member does not change even if the first link member moves. 5. The auxiliary link mechanism includes a fifth auxiliary link member rotatably connected to the second rotating link member and a seventh rotating portion, and a fifth auxiliary link member rotatably connected to the fifth auxiliary link member and an eighth rotating portion. and a sixth auxiliary link member rotatably connected to the third rotating link member and the ninth rotating section, and a second connecting member rotatably connecting the first rotating section and the eighth rotating section. The motion transmission device according to claim 4, characterized in that the motion transmission device comprises: 6. The auxiliary link mechanism includes a seventh auxiliary link member rotatably connected to a first rotating link member and a tenth rotating section, and a seventh auxiliary link member rotatably connected to the seventh auxiliary link member and an eleventh rotating section. an eighth auxiliary link member rotatably connected to the third rotating link member and the twelfth rotating section; and a third connection rotatably connecting the fourth rotating section and the eleventh rotating section. The motion transmission device according to claim 4, characterized in that it is comprised of a member.