| 摘要 |
<p>The invention relates to a drive device for an object (1) performing at least three combined rotational movements. Said device comprises first, second and third hollow coaxial shafts (13, 32, 42) with an axis X1, to be respectively independently rotated, in relation to the axis X1, by first, second and third motor means (4, 5, 6). The first shaft has a free end carrying a first essentially plane output surface which has a generally circular contour and is oriented perpendicularly to an axis X2 intersecting the axis X1, defining an angle a. Mechanical connection means are used to kinematically connect the second shaft to a support (8) which is mounted in a freely rotating manner on the first output surface, while an intermediate setting wheel (50) with an axis X2 is used to kinematically connect the third shaft to the object, the object being mounted in the support in such a way that it can freely rotate about an axis X3. Furthermore, the axis X3 has an angle a in relation to the axis X2, the three axes X1, X2 and X3 intersecting each other at a common point. The inventive device especially comprises a central passage connecting the shafts to the object, the latter engaging with a first cog of the intermediate setting wheel oriented in the direction of the axis X2.</p> |
