| 摘要 |
PURPOSE: A cable driving device including a rotation driving function is provided to be controlled in order to drive in a forward and backward direction and in a right and left direction without driving resistance on a cable. CONSTITUTION: A cable driving device(100) including a rotation driving function comprises a power generation unit(110), a diagonal driving unit(120), a linear driving unit(130), and a control unit(140). The diagonal driving unit comprises a first and second mecannum wheel(121,122) including a rotational unit and a driving unit. A pair of diagonal driving units receives power on a cable(C) from the power generation unit and generates a moving force of the cable in a diagonal direction of the cable. The linear driving unit comprises an omni wheel including a main wheel and an auxiliary wheel. The linear driving unit receives the power from the power generation unit and generates the moving force in a parallel direction of the cable or in a vertical direction of the cable. [Reference numerals] (110) Power generation unit; (140) Control unit; |
