| 摘要 |
PROBLEM TO BE SOLVED: To provide a multi-axis driving device movable at a high speed and high acceleration-deceleration by reducing inertia and friction of a moving part by transmitting driving force by using a wire; and a multi-axial force presenting device for presenting multi-axial force of high rigidity by reducing inertia and friction of the moving part. SOLUTION: This multi-axial force presenting device 1 has a first axis P1 for translationally moving in the prescribed direction, and a second axis P2 for rotatably operating or translationally moving in the prescribed direction to the first axis P1. A motor of the second axis P2 drives the second axis P2 by closed loop driving by a wire independently of the movement of the first axis P1, and compensates for influence to driving of the second axis P2 by the movement of the first axis P1 by an intermediate pulley 4. Thus, influence on driving torque or displacement of the second axis P2 by the movement of the first axis P1 is offset, and generating force or a moving distance in the first axis P1 direction and the second axis P2 direction can be independently driven, and light operability is realized by restraining an increase in mass of the first axis P1 by addition of the second axis P2. COPYRIGHT: (C)2005,JPO&NCIPI
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