Parallel mechanism, calibration method for use in the same, and machine tool including the same

摘要

A parallel mechanism (300) adapted to control at least one of pivotal movement and linear movement of a link head (301) having three degrees of freedom. The parallel mechanism includes four actuators for driving the link head (301), and link groups (350, 351) which include four links (350A, 350B; 351A, 351B) connected to the four actuators, respectively, and each of which is connected to the link head (301). A rotation joint (355) interposed between each of the link groups (350, 351) and the link head (301) is made a linear joint (353) which is connected to the link head (301) so as to be relatively movable in one axis direction with respect to the link head (301).