| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a manipulator capable of securing sufficient driving force and promoting miniaturization, and a device equipped with the manipulator. <P>SOLUTION: A spherical concave 21 is rotatably supported around a spherical center C, and a protrusion 511 of a piezoelectric actuator 5 is abutted to an inner side of the spherical recessed surface 21. The piezoelectric actuator 5 is positioned between the spherical recessed surface 21 and the spherical center C. When voltage is applied to a piezoelectric element 52, the piezoelectric actuator 5 is oscillated and the protrusion 511 presses the spherical concave 21, and a movable body 2 is moved to an arbitrary direction. The spherical concave 21 is a concave with the usage of a part of a spherical body, a large spherical radius R can be secured even when the movable body 2 is miniaturized, frictional force at the protrusion 511 is reduced against external force, the external force is increased, and large torque can be achieved with respect to the driving force of the protrusion 511. <P>COPYRIGHT: (C)2005,JPO&NCIPI |
