| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a spherical actuator wherein a driving direction and a rotational speed can be easily controlled and its outer size can be reduced. <P>SOLUTION: The spherical actuator 1 includes a spherical unit 4 and multiple drive units 2 that are installed around the spherical unit 4 and incline the spherical unit 4 by a predetermined angle. The spherical actuator is used in the folding joints of a robot. Each of the drive units 2 includes an elastic body 12 that is in contact with the surface of the spherical unit 4 and is installed on a fixed base, and an electrical pressing portion 10 that presses the fixed base 11 toward the spherical unit 4, or moves it from the spherical unit according to presence or absence of applied current, and thereby inclines the spherical unit 4 by the elastic bodies 12. <P>COPYRIGHT: (C)2006,JPO&NCIPI |
