| 摘要 |
PROBLEM TO BE SOLVED: To provide an articulated actuator capable of semi-spherically moving though the actuator is compact and simple in structure. SOLUTION: The articulated actuator is capable of turning around biaxial directions, and provided with a spherical articulation 2 having a convex spherical face 4, a recessed spherical face articulation 3 having a recessed spherical face that is slide-engaged or roll-engaged to the external periphery of the spherical articulation 2, a first motor 41 that imparts turning motion relative to the circumference of a first axis line in the prescribed direction of the spherical articulation 2 and the recessed spherical face articulation 3, and a second motor 42 that is arranged between the spherical articulation 2 and the recessed spherical face articulation 3 and imparts turning motion relative to the circumference of a second axis line in the direction orthogonal to the first axis line of the spherical articulation 2 and the recessed spherical face articulation 3. COPYRIGHT: (C)2004,JPO
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