| 摘要 |
PROBLEM TO BE SOLVED: To provide a center effector driver which, having a simple structure and being small, can turn a center effector device with two degrees of freedom, that is, at any angle and in any direction, and which can be used in unlimited fields. SOLUTION: A center effector driver has an installation section 7 to install a center effector device B formed on the diameter axis of a globular body 1 and a driving means A for turning the globular body 1 with at least two degrees of freedoms, with the center effector device B being installed in the installation section 7. The driving means A is constituted of a two-axle globular motor which uses the globular body 1 as a rotor and drives the globular body 1 by means of two pairs of stators 2 which hold the grobular body on four sides. |
