Claims
- 1. A control method for a link arm mechanism,said link arm mechanism comprising: a first guide member and a second guide member disposed in parallel with each other; a first slider shiftable along said first guide member; a second slider shiftable along said second guide member; a first arm having a length longer than a clearance between axes of said first guide member and said second guide member, with one end pivotally supported by said first slider; a second arm having a length longer than the clearance between the axes of said first guide member and said second guide member, with one end pivotally supported by said second slider; and a shift member supported by the other ends of said first and second arms and supporting a working device, and said control method comprising the step of: shifting said shift member along a line normal to the sliding direction of said first and second sliders by controlling the sliding positions of said first and second sliders so as to satisfy the following relationship Bx=x1-L22-[L1 sin{cos-1 (x1-AxL1)}+d]2 where “L1” represents the length of said first arm, “L2” represents the length of said second arm, “d” represents the clearance between the arm pivot axes on said first slider and said second slider, “Ax” represents the position of said first slider in said sliding direction and “Bx” represents the position of said second slider in said sliding direction, and “x1” represents the position of said shift member in said sliding direction.
- 2. The control method for a link arm mechanism in accordance with claim 1, wherein said control step for shifting said shift member comprises a calculating step for obtaining a target speed curve of said first slider and a target speed curve of said second slider based on a target speed curve of said shift member.
- 3. The control method for a link arm mechanism in accordance with claim 1, wherein an angle sensor is provided at least at one of said first and second sliders to detect the shifting position of said shift member based on a detected angle of said angle sensor.
- 4. The control method for a link arm mechanism in accordance with claim 3, wherein said control step for shifting said shift member is performed periodically, and said detection of the shifting position of said shift member is performed at least before or after each shifting operation of said shift member.
Priority Claims (2)
Number |
Date |
Country |
Kind |
10-70594 |
Mar 1998 |
JP |
|
10-70607 |
Mar 1998 |
JP |
|
Parent Case Info
This is a division of application Ser. No. 09/266,605, filed Mar. 11, 1999.
US Referenced Citations (14)
Foreign Referenced Citations (1)
Number |
Date |
Country |
58-160081 |
Sep 1983 |
JP |