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1. (WO2018088508) MULTI-DIRECTIONAL DRIVE DEVICE, ROBOT JOINT MECHANISM, AND MULTI-DIRECTIONAL DRIVE METHOD

Pub. No.:    WO/2018/088508    International Application No.:    PCT/JP2017/040534
Publication Date: Fri May 18 01:59:59 CEST 2018 International Filing Date: Sat Nov 11 00:59:59 CET 2017
IPC: F16H 37/06
B25J 17/00
Applicants: NEC EMBEDDED PRODUCTS, LTD.
NECエンベデッドプロダクツ株式会社
National University Corporation Yamagata University
国立大学法人山形大学
Inventors: OKAZAKI Yasunori
岡崎 泰典
MATSUDA Tomomi
松田 智美
TADAKUMA Riichiro
多田隈 理一郎
SAITO Hiroto
齋藤 寛人
ABE Kazuki
阿部 一樹
HAO Shinnosuke
羽尾 伸之介
MOGI Kazuki
茂木 和樹
Title: MULTI-DIRECTIONAL DRIVE DEVICE, ROBOT JOINT MECHANISM, AND MULTI-DIRECTIONAL DRIVE METHOD
Abstract:
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.