MULTI-DEGREE-OF-FREEDOM POSITIONING DEVICE AND MULTI-DEGREE-OF-FREEDOM POSITIONING METHOD

摘要

This device is capable of supporting the weight of a jig or tool and an endplate by means of a simple configuration, suppresses heat release resulting from a drive current, and secures driving power when performing work. The device is provided with: a plurality of links (3) that connect between a baseplate (2) and an endplate (4); an actuator (6) that is attached to each link (3) and that drives each link (3); and a gravity compensation device (5) that is connected between the baseplate (2) and the endplate (4) and that supports the weight of the endplate (4) in a steady position and an object that is attached to the endplate (4).