Parallel link robot assembly and disassembly methods

Abstract

A method for assembling a parallel link robot comprising a base portion, a movable portion arranged at a distance from the base portion, a plurality of drive links each supported rotatably about a different axis relative to the base portion, and passive links detachably connecting each drive link to the movable portion, the method including: connecting a base portion unit comprising the base portion and the plurality of drive links to the movable portion with a flexible lifting device; lifting the base portion unit; suspending the movable portion vertically below the base portion unit by tension applied to the lifting device; and assembling the plurality of passive links between the drive links and the movable portion.

Description

[Technical Field]

[0001] The present disclosure relates to a method for assembling and disassembling a parallel link robot. [Background technology]

[0002] Parallel link robots that are used by hanging them from a ceiling or a stand are known (see, for example, Patent Document 1). These parallel link robots include a base part that is fixed to an installation surface such as a stand, a movable part that is placed below the base part, and a link part that connects the base part and the movable part.

[0003] The link unit includes a plurality of drive links connected to the base unit and a passive link that connects the tip of each drive link to the movable unit. Both ends of the passive link are detachably connected to the drive links and the movable unit by ball joints. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Laid-Open No. 2017-217709 Summary of the Invention [Problem to be solved by the invention]

[0005] When transporting such a parallel link robot, the passive links are sometimes removed to make the transport configuration more compact. In this case, the passive links are removed and assembled at the destination while the unit with the drive links attached to the base is suspended from a stand or the like. This requires the worker to remove or assemble the passive links between the drive links and the movable unit while lifting the movable unit to a predetermined position below the base, which makes the work less efficient. Therefore, it is desirable to improve the workability of assembling or disassembling a parallel link robot. [Means for solving the problem]

[0006] One aspect of the present disclosure is a method for assembling a parallel link robot including a base portion, a movable portion arranged at a distance from the base portion, a plurality of drive links each supported rotatably about a different axis relative to the base portion, and a passive link that detachably connects each of the drive links to the movable portion, the method including: connecting a base portion unit including the base portion and the plurality of drive links to the movable portion with a flexible lifting device; lifting the base portion unit; suspending the movable portion vertically below the base portion unit by tension applied to the lifting device; and assembling the plurality of passive links between the drive link and the movable portion. [Brief explanation of the drawings]

[0007] [Figure 1] 1 is a schematic diagram illustrating a parallel link robot to which an assembly method according to an embodiment of the present disclosure is applied. FIG. [Figure 2] FIG. 2 is a front view showing one set of link portions of the parallel link robot of FIG. 1. [Figure 3] 1 is a flowchart illustrating an assembly method according to an embodiment of the present disclosure. [Figure 4] 2 is a schematic diagram showing an example of a transport mode of the parallel link robot of FIG. 1. FIG. [Figure 5] FIG. 10 is a schematic diagram of a parallel link robot in a step of an assembly method according to an embodiment of the present disclosure. [Figure 6] 6 is a diagram showing an example of a method for attaching a sling to one drive link of the parallel link robot in the state of FIG. 5. FIG. [Figure 7] FIG. 10 is a schematic diagram of the parallel link robot in another step of the assembly method according to the embodiment of the present disclosure. [Figure 8] 7A and 7B are diagrams showing a first modified example of the method for attaching the suspender shown in FIG. 6. [Figure 9]7 is a diagram showing a second modified example of the method for attaching the suspender shown in FIG. 6. FIG. [Figure 10] 7A and 7B are diagrams showing a third modified example of the method for attaching the suspender shown in FIG. 6. [Figure 11] 1 is a flowchart illustrating a disassembly method according to an embodiment of the present disclosure. DETAILED DESCRIPTION OF THE INVENTION

[0008] A method for assembling the parallel link robot 100 according to the first embodiment of the present disclosure will be described below with reference to the drawings. First, a parallel link robot 100 (hereinafter also referred to as robot 100) to which the assembly method according to this embodiment is applied will be described with reference to FIGS. 1 and 2. FIG.

[0009] The robot 100 comprises, for example, a base part 20 that is suspended and fixed to a stand or the like, a movable part 30 that is arranged at intervals below the base part 20, and three sets of link parts 40 that connect the base part 20 and the movable part 30 in parallel.

[0010] The base unit 20 is equipped with three servo motors 21 and reducers (not shown) for driving the three sets of link units 40, respectively. The servo motors 21 are arranged at equal intervals in the circumferential direction around an axis A that passes through the center of the base unit 20 and extends vertically. Each servo motor 21 also has a shaft (not shown) that can be rotated around a horizontal axis B. Each axis B extends along a tangent to the same circle centered on the axis A.

[0011] Each link unit 40 includes a drive link 41 that is connected to the shaft of the corresponding servo motor 21 via a reducer, and is thereby driven to rotate around the axis B. Each link unit 40 also includes a pair of passive links 42 that are arranged parallel to each other and connect each drive link 41 to the movable unit 30.

[0012] 2, each passive link 42 includes a round bar-shaped link body 43 and sockets 44, 45 fixed to both ends of the link body 43. The tips of the sockets 44, 45 are provided with hemispherical recesses 44a, 45a, respectively.

[0013] Ball studs (connecting portions) 46 are disposed on both sides of the tip of each drive link 41 in the direction of the axis B. Each ball stud 46 has a ball portion 46a having a diameter that can fit into the corresponding recess 44a, and a shaft portion 46b that extends radially outward from the outer surface of the ball portion 46a. The tips of the shaft portions 46b of the ball studs 46 are fixed to both side surfaces in the direction of axis B of the tip of each drive link 41. As a result, a pair of ball studs 46 protrude outward on both sides in the direction of axis B from the tip of each drive link 41.

[0014] In addition, protrusions 31 that protrude radially outward are provided at three equally spaced locations on the outer peripheral surface of the movable part 30, and ball studs (connection parts) 47 are attached to both circumferential side surfaces of each protrusion 31. Each ball stud 47 has a ball portion 47a with a diameter that can fit into the corresponding recess 45a, and a shaft portion 47b that extends radially outward from the outer surface of the ball portion 47a. As with the ball studs 46, the ball studs 47 are attached to both circumferential side surfaces of each protruding portion 31 so as to protrude outward.

[0015] The recess 44a of the socket 44 of the driven link 42 and the ball portion 46a of the ball stud 46 attached to the corresponding driving link 41 are detachably fitted together to form a ball joint 50. Similarly, the recess 45a of the socket 45 of the driven link 42 and the ball portion 47a of the ball stud 47 attached to the corresponding protrusion 31 are detachably fitted together to form a ball joint 51.

[0016] Further, between the sockets 44 and between the sockets 45 of each pair of passive links 42, there are disposed biasing members 60 that draw the sockets 44 and the sockets 45 in directions that bring them closer to each other. The biasing member 60 is, for example, a coil spring, and has hook-shaped hooks 61 formed on both ends.

[0017] 2, with the ball portion 46a fitted in the recessed portion 44a, the biasing member 60 on the socket 44 side is in a slightly stretched state, with the hooks 61 on both ends hooked onto the bushings 44b of the socket 44. As a result, the inner surface of the recessed portion 44a of each socket 44 is pressed against the outer surface of the ball portion 46a.

[0018] Similarly, with the ball portion 47a fitted in the recessed portion 45a, the biasing member 60 on the socket 45 side is in a slightly stretched state, with the hooks 61 on both ends hooked onto the bushings 45b of the socket 45. As a result, the inner surfaces of the recessed portions 45a of both sockets 45 are pressed against the outer surfaces of the ball portion 47a.

[0019] Therefore, when the robot 100 is in an assembled state, the ball joints 50, 51 are firmly coupled to each other by the biasing members 60, so that the assembled state of each pair of passive links 42 is maintained. On the other hand, when a force in a direction that stretches the biasing member 60 is applied to each pair of passive links 42, the fitted recesses 44a, 45a and ball portions 46a, 47a are pulled apart, respectively, and the connection between the ball joints 50, 51 is released. This allows the passive links 42 to be removed from each drive link 41 and the movable portion 30.

[0020] Next, a method for assembling the parallel link robot 100 according to this embodiment will be described with reference to FIGS. 3, the assembly method according to this embodiment includes a connecting step S1 in which a foundation unit 25, which has three drive links 41 connected to a foundation 20, is connected to the movable part 30 by a flexible hoisting device 70. The assembly method according to this embodiment also includes a lifting step S2 in which the foundation unit 25 is lifted, and a hanging step S3 in which the movable part 30 is suspended vertically below the foundation unit 25 by tension applied to the hoisting device 70. The assembly method according to this embodiment also includes an assembly step S4 in which a plurality of passive links 42 are assembled between the drive links 41 and the movable part 30, and a removal step S5 in which the hoisting device 70 is removed.

[0021] Here, when transporting the parallel link robot 100, as shown in FIG. 4, the three pairs of passive links 42 are removed, so that the parallel link robot 100 is separated into three parts: the base unit 25, the passive links 42, and the movable part 30. In this way, by removing and separating the passive links 42, the parallel link robot 100 can be made significantly more compact than when not separated, and can be configured in a transport form with a small packaging volume.

[0022] In the transport mode, the base unit 25 is attached to a transport frame that allows it to be stably positioned above the floor at a height that does not directly contact the floor, as shown in Fig. 5. Furthermore, in the transport mode, the three drive links 41 of the base unit 25 are tilted upward at the same angle, for example, 45° relative to the horizontal.

[0023] The assembly method according to this embodiment is a method for assembling the parallel link robot 100 that has been transported in such a manner. First, in the connecting step S1, as shown in Fig. 5, the transportable base unit 25 is placed on a stable surface such as the floor using a transport frame or the like, and the movable part 30 is positioned near the base unit 25. Then, six pairs of ball studs 46, 47 to which three pairs of six passive links 42 are attached are connected by six lifting devices 70.

[0024] Each sling 70 is formed into a loop by joining the two ends of a high-strength, highly flexible belt-like member made of a material such as polypropylene. The belt-like member from which each sling 70 is made has a length approximately twice that of the driven link 42.

[0025] As shown in FIG. 6, each sling 70 is attached by fastening two binding devices 75 such as nylon bands with loops passed through them to the shafts 46b and 47b of the paired ball studs 46 and 47, respectively. As a result, the base unit 25 and the movable part 30 are connected by the six hanging tools 70.

[0026] Next, in the lifting step S2, the foundation unit 25, from which the transport frame has been removed, is lifted using a crane or the like. As the lifting step S2 progresses, the foundation unit 25 rises, and tension is applied to the six lifting tools 70 connecting the foundation unit 25 and the movable part 30.

[0027] In the hanging step S3, the base unit 25 is further raised from this state, and the movable part 30 is pulled up by the tension applied to the hanging tools 70. In this case, since all six hanging tools 70 have the same length, the movable part 30 is hung vertically below the base unit 25 by the balance of the tensions of the six hanging tools 70, as shown in FIG.

[0028] In this state, the six suspenders 70 assume a form in which two strip-shaped members extend linearly between the shafts 46b, 47b of the ball studs 46, 47 that are connected to each other due to the tension applied thereto. As a result, the distance between the ball studs 46, 47 connected by each suspender 70 is set to half the length of the material that constitutes the suspender 70, that is, approximately the same as the length of the driven link 42.

[0029] In this state, in assembly step S4, the pair of driven links 42 connected by the two biasing members 60 are assembled to the drive link 41 and the corresponding protrusion 31. During assembly, a force is applied to the pair of driven links 42 in a direction that pulls them apart, widening the space between the sockets 44 and positioning both sockets 44 so that they sandwich the pair of ball studs 46 from both outside. The applied force is then gradually removed, and the ball portions 46a of the corresponding pair of ball studs 46 are fitted into the recesses 44a of both sockets 44. Similarly, the ball portions 47a of the ball studs 47 are fitted into the recesses 45a of both sockets 45. As a result, one pair of driven links 42 is assembled between the driving link 41 and the corresponding protrusion 31. The remaining two pairs of driven links 42 are assembled in the same manner.

[0030] Finally, in the removal step S5, after all of the passive links 42 have been assembled, the binding devices 75 that fastened each of the hoisting devices 70 to the ball studs 46, 47 are cut. As a result, all six hoisting devices 70 are removed from the parallel link robot 100, and the assembly work of the parallel link robot 100 is completed.

[0031] In this way, by connecting each drive link 41 and the movable part 30 with the hoisting device 70 in advance before assembling the passive link 42, the movable part 30 can be suspended below the base unit 25. Therefore, the worker does not need to constantly lift the movable part 30 while assembling the passive link 42, improving the workability of the assembly work.

[0032] In particular, in this embodiment, the ball studs 46, 47 to which each passive link 42 is attached are connected by a suspender 70 having the same length as the passive link 42. This allows the ball stud 46 of the drive link 41 and the ball stud 47 of the movable part 30 to be positioned so that the distance between the sockets 44, 45 on both ends of the passive link 42 is approximately the same. Therefore, when assembling the passive link 42, the ball studs 46, 47 can be aligned with the sockets 44, 45 simply by slightly lifting the movable part 30.

[0033] Furthermore, since the six pairs of ball studs 46, 47 are connected by the six lifting devices 70, the movable part 30 can be held in a stable assembly position, and the six passive links 42 can be easily assembled.

[0034] Furthermore, in this case, ball studs 46, 47 to which hoisting device 70 is attached protrude outward from the outer surfaces of corresponding drive link 41 and protrusion 31. This provides an advantage of ensuring a large working space when attaching hoisting device 70, making the work of attaching hoisting device 70 easier.

[0035] Furthermore, each hoisting device 70 is not directly attached to the corresponding drive link 41 and protrusion 31, but is attached via a binder 75. Therefore, the hoisting device 70 can be attached without being affected by the shape or material of the hoisting device 70. Furthermore, when removing the hoisting device 70, it is only necessary to remove the binder 75, making the removal of the hoisting device 70 simple and easy.

[0036] In this embodiment, the suspender 70 formed in a loop shape is used, but the shape of the suspender 70 is not limited to this. For example, as shown in FIG. 8, a sling 70 may be used in which loops are provided on both ends of a strip-shaped member that is the material of the sling 70. In this case, one fastener 75 is passed through each loop at each end of the belt-like member, and each fastener is fastened to the shafts 46b, 47b of the corresponding ball studs 46, 47. This also makes it possible to connect each drive link 41 and the movable part 30 with the suspender 70.

[0037] Alternatively, as shown in Fig. 9, if the loops at both ends of the belt-shaped member are large enough to allow the corresponding ball portions 46a, 47a to pass through, the loops at both ends may be directly hooked onto the shaft portions 46b, 47b. Also, as shown in Fig. 10, if the tip of the drive link 41 has a shape that allows a loop provided on the sling 70 to be hooked onto it, the loop of the sling 70 may be hooked onto the drive link 41.

[0038] 9 and 10, it is possible to omit the fasteners 75 for attaching the sling 70 to the drive link 41 and the protrusion 31, greatly improving the workability of attaching the sling 70. This further reduces the time required to assemble the parallel link robot 100.

[0039] In this embodiment, if holes or the like are provided on the outer surface of the movable part 30 for removing weight, the suspender 70 can be attached using the holes.

[0040] Furthermore, in this embodiment, the hanger 70 made of polypropylene is exemplified, but instead, a hanger 70 made of a material having elastic properties, such as rubber, may be used.

[0041] In this case, the worker can adjust the height of the suspended movable part 30 by pulling downward on the movable part 30 suspended below the base unit 25 and temporarily extending the suspending device 70. In other words, even if the length of the suspending device 70 is not strictly controlled, when assembling the passive link 42, the position of the suspended movable part 30 can be adjusted and easily placed in the desired position.

[0042] In this embodiment, a sling 70 equipped with a fastener (adjustment mechanism) that allows the length of the sling 70 to be adjusted may also be used. In this case, the length of sling 70 can be easily changed by operating the fastener. That is, the length of sling 70 can be adjusted to an optimum length each time depending on the content of the assembly work of robot 100.

[0043] For example, in the lifting step S2, when lifting the base unit 25 and the movable part 30, by operating the fasteners and shortening the length of the lifting tool 70, it is possible to minimize shaking when the movable part 30 is lifted. This reduces the possibility that the movable part 30 will interfere with surrounding components when being lifted. Meanwhile, in assembly step S4 for assembling the driven link 42, the fastener is operated to adjust the length of the sling tool 70 to be approximately the same as the length of the driven link 42. This allows the driven link 42 to be easily assembled, as described above.

[0044] Furthermore, in the present embodiment, the case where the foundation unit 25 and the movable unit 30 are connected by six or three hanging devices 70 has been exemplified, but they may be connected by one or two hanging devices 70. For example, the foundation unit 20 and the movable unit 30 may be connected by one or two hanging devices 70 near their central positions.

[0045] This also allows the movable part 30 to be stably suspended vertically below the base unit 25 in accordance with the balance of its center of gravity when the base unit 25 is lifted. In this case, the posture of the movable part 30 can be changed by simply applying a slight force, and the distance between the ball studs 46, 47 to which the passive link 42 is to be attached first can be easily adjusted.

[0046] Next, a method for disassembling the parallel link robot 100 according to this embodiment will be described. In the following, the configuration of the parallel link robot 100 to which the disassembly method according to this embodiment is applied is assumed to be the same as the parallel link robot 100 exemplified in the description of the assembly method according to this embodiment described above, and the description thereof will be omitted.

[0047] 11 , the disassembly method according to this embodiment includes a connecting step S11 in which the drive link 41 of the parallel link robot 100, which is installed by being suspended from a stand or the like, is connected to the movable part 30 by a flexible suspender 70. The disassembly method according to this embodiment also includes a disassembly step S12 in which at least one passive link 42 between the drive link 41 and the movable part 30 is removed.

[0048] The disassembly method according to this embodiment can be applied, for example, when removing three pairs of passive links 42 in conjunction with relocating the parallel link robot 100 installed on a pedestal.

[0049] In this case, in the connecting step S11, the three drive links 41 and the corresponding protrusions 31 are connected by six suspenders 70 in the parallel link robot 100 that is installed while suspended from a base. The material, shape and mounting method of the suspender 70 may be the same as those in the assembly method described above.

[0050] As a result, the six pairs of ball studs 46, 47, each connected by one passive link 42, are also connected by the suspender 70, which extends linearly without flexing. These suspenders 70 are arranged in parallel adjacent to the single passive link 42 that connects the ball studs 46, 47 to which they are attached.

[0051] Next, in disassembly step S12, a force is applied to the pair of passive links 42 to be removed in a direction that widens the gap between them, against the biasing force of the biasing member 60. This disengages the recesses 44a, 45a of the sockets 44, 45 from the ball portions 46a, 47a of the ball studs 46, 47, and the pair of passive links 42 are removed from the drive link 41 and the movable part 30.

[0052] In this case, the distance between the ball studs 46, 47 from which the driven links 42 have been removed is maintained unchanged by the suspending devices 70. Similarly, even if all of the driven links 42 are removed, the movable section 30 is maintained suspended vertically below the base unit 25 in a stable position by the six suspending devices 70. This completes the disassembly of the parallel link robot 100.

[0053] Thus, according to this embodiment, even when the passive links 42 are removed, the distance between the ball studs 46, 47 is maintained by the lifting device 70, so the worker does not need to support the movable part 30 from below while removing the passive links 42. In particular, because the posture of the movable part 30 is stable even when one pair of passive links 42 is removed, there is no need to support the movable part 30 by hand when removing another pair of passive links 42. Therefore, the passive links 42 can be easily removed, and the workability of disassembling the parallel link robot 100 can be improved.

[0054] Furthermore, although the disassembly method according to this embodiment has been described above using the example of removing all three pairs of passive links 42, the disassembly method according to this embodiment can also be applied to the case where only some of the passive links 42 are removed.

[0055] For example, when replacing only one pair of passive links 42 of the robot 100 mounted on a platform, it is sufficient to connect only the ball studs 46, 47 to which the passive link 42 to be removed is connected by the lifting device 70. As a result, even if one pair of passive links 42 is removed, the connection between the drive link 41 and the protrusion 31 to which the passive link 42 was connected is maintained by the suspender 70. Therefore, with the passive link 42 left in the removed state, a new passive link 42 can be easily attached between the ball studs 46, 47 connected by the suspender 70.

[0056] Although the embodiments of the present disclosure have been described in detail above, the present disclosure is not limited to the individual embodiments described above. Various additions, substitutions, modifications, partial deletions, etc. are possible to these embodiments without departing from the gist of the invention or the concept and spirit of the present invention derived from the content of the claims and their equivalents. For example, in the above-described embodiments, the order of each operation and the order of each process are shown as examples and are not limited to these.

[0057] The following additional notes are provided regarding the above-described embodiment and modifications. (Appendix 1) A method for assembling a parallel link robot comprising a base portion, a movable portion arranged at a distance from the base portion, a plurality of drive links each supported rotatably about a different axis relative to the base portion, and a passive link detachably connecting each of the drive links to the movable portion, the method including: connecting a base portion unit comprising the base portion and the plurality of drive links to the movable portion with a flexible lifting device; lifting the base portion unit; suspending the movable portion vertically below the base portion unit by tension applied to the lifting device; and assembling the plurality of passive links between the drive link and the movable portion. (Appendix 2) 2. The method for assembling a parallel link robot according to claim 1, wherein the movable part is suspended at a position where the distance between each of the drive links and the movable part corresponds to the length of the passive link. (Appendix 3) 3. A method for assembling a parallel link robot according to claim 1 or 2, wherein the drive link and the movable part each have a connection part with the corresponding passive link that protrudes outward on both sides in the axial direction, and the hoisting device connects a pair of the connection parts that are connected to both ends of the corresponding passive link. (Appendix 4) 4. A method for assembling a parallel link robot according to any one of Supplementary Note 1 to Supplementary Note 3, wherein the hoisting device has a loop for hooking onto at least one of the corresponding drive link and the corresponding movable part. (Appendix 5) 4. A method for assembling a parallel link robot according to any one of Supplementary Note 1 to Supplementary Note 3, wherein the hoisting device has a loop through which a fastening device for fastening the hoisting device to at least one of the corresponding drive link and the corresponding movable part is passed. (Appendix 6) 6. A method for assembling a parallel link robot according to any one of claims 1 to 5, wherein the hoisting tool is made of an elastically deformable material. (Appendix 7) 6. A method for assembling a parallel link robot according to any one of claims 1 to 5, wherein the hoisting tool is provided with an adjustment mechanism that can adjust the length of the hoisting tool. (Appendix 8) A method for disassembling a parallel link robot comprising a base, a movable part arranged at an interval from the base, a plurality of drive links each supported on the base so as to be rotatable about a different axis, and a passive link detachably connecting each of the drive links to the movable part, the method comprising the steps of: connecting a base unit comprising the base and the plurality of drive links to the movable part with a flexible hanger while the parallel link robot is suspended; and removing at least one of the passive links between the drive link and the movable part. [Explanation of symbols]

[0058] 20 Foundation 25 Base Unit 30 Moving parts 41 Drive link 42 passive links 46 Ball stud (connection part) 47 Ball stud (connection part) 70 Lifting equipment 75 Binding device 100 Parallel Link Robot B axis

Claims

1. A method for assembling a parallel link robot including a base portion, a movable portion disposed at an interval from the base portion, a plurality of drive links each supported rotatably about a different axis relative to the base portion, and passive links detachably connecting each of the drive links to the movable portion, the method comprising the steps of: Connecting the movable part to a base unit including the base and a plurality of the drive links by a flexible suspender; Lifting the foundation unit; and suspending the movable portion vertically below the base unit by tension applied to the suspending tool; and assembling a plurality of the passive links between the driving link and the movable part.

2. 2. The method for assembling a parallel link robot according to claim 1, wherein the movable part is suspended at a position where the tension causes a distance between each of the drive links and the movable part to correspond to a length dimension of the passive link.

3. the driving link and the movable part each include a connection part with the passive link that protrudes outwardly on both sides in the axial direction; 3. The method for assembling a parallel link robot according to claim 1, wherein the hoisting tool connects a pair of the connection parts that are connected to both ends of the corresponding passive links.

4. 3. The method for assembling a parallel link robot according to claim 1, wherein the hoisting tool includes a loop for hooking onto at least one of the corresponding driving link and the corresponding movable part.

5. 3. The method for assembling a parallel link robot according to claim 1, wherein the hoisting device includes a loop through which a fastener for fastening the hoisting device to at least one of the corresponding driving link and the corresponding movable part is passed.

6. 3. The method for assembling a parallel link robot according to claim 1, wherein the suspending device is made of an elastically deformable material.

7. 3. The method for assembling a parallel link robot according to claim 1, wherein the suspender includes an adjustment mechanism that can adjust the length of the suspender.

8. A method for disassembling a parallel link robot including a base portion, a movable portion disposed at an interval from the base portion, a plurality of drive links each supported on the base portion so as to be rotatable about a different axis, and passive links detachably connecting each of the drive links to the movable portion, the method comprising the steps of: In a state in which the parallel link robot is suspended, a base unit including the base and the plurality of drive links is connected to the movable part by a flexible suspender; and removing at least one of the passive links between the driving link and the movable part.