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|1. (WO2018088508) MULTI-DIRECTIONAL DRIVE DEVICE, ROBOT JOINT MECHANISM, AND MULTI-DIRECTIONAL DRIVE METHOD|
|Applicants:||NEC EMBEDDED PRODUCTS, LTD.
National University Corporation Yamagata University
|Title:||MULTI-DIRECTIONAL DRIVE DEVICE, ROBOT JOINT MECHANISM, AND MULTI-DIRECTIONAL DRIVE METHOD|
A multi-directional drive device characterized by having a first drive motor supported by a holding unit and having a first drive shaft, a rotary member integrally coupled to the first drive shaft of the first drive motor and rotating together with the first drive shaft, a spherical body that is supported so as to be able to rotate freely on the rotary member and that rotates centered around a second rotation center axis different from a first rotation center axis of the first drive shaft, a second drive motor mounted on the rotary member and having a second drive shaft independent from the first drive shaft, and a transmission mechanism that is provided between the second drive shaft of the second drive motor and the spherical body on the rotary member, and transmits motive force of the second drive shaft to the spherical body, causing the spherical body to slide and rotate with respect to the rotary member while being centered around the second rotation center axis, wherein a body to be operated is supported by the spherical body.