| 摘要 |
PROBLEM TO BE SOLVED: To provide a spherical actuator which displaces first and second links in an arbitrary direction on X, Y planes, and is simple in structure.SOLUTION: The spherical actuator comprises: a socket section 14 which is fixed to the first link 12 and in the inside of which a first space 14c is formed; a ball section 20 which is freely connectable to a second link 16 and is slidably accommodated in the first space 14c of the socket section in the arbitrary direction on the X, Y planes, and has a second space 20c which can form a common space in cooperation with the first space; XY plane displacement means (bag-shaped member) 22 which is composed of n-pieces of the bag-shaped members 22 constituted of an expandable and contractible fluid pressure chamber, freely engaged with a pressure receiving face 24 of the common space, and is transmittable with the expansion and contraction of the fluid pressure chamber as displacement in the arbitrary direction on the X, Y planes of the second link with respect to the first link; a fluid pressure pipe 26 into which a fluid pressure passage 26a is accommodated; and fluid pressure control means 30 for controlling supply and discharge of fluid pressure to/from the fluid pressure chamber. |
