| 摘要 |
<p>PURPOSE: To obtain a ginbal mechanism which can be settled spatially by a large torque without restricting the mountable space significantly. CONSTITUTION: A ginbal frame 25 turnable about X-axis is set on the ginbal supports 23a, 23b disposed on a base 24 and a fixing base 26 turnable about Y-axis, intersecting the X-axis perpendicularly, is mounted on the ginbal frame 25 with a yoke 29 made of a ferromagnetic material being provided at one end part of the fixing base 26. An electromagnetic coil 27 supported on the base 24 is inserted, through a slight gap, between permanent magnet pieces 28a, 28b disposed oppositely at the opposite ends of the yoke 29. Rotational angle of the fixing base 26 about X-axis is detected by an X-axis angular speed sensor 30 while the rotational angle of the fixing base 26 about Y-axis is detected by a Y-axis angular speed sensor 31. Based on the outputs from the angular speed sensors 30, 31, a control means 32 controls conduction of the electromagnetic coil 27 thus suppressing the oscillation of an object fixed to the fixing base 26 with a large torque.</p> |
