| 摘要 |
PURPOSE:To realize miniaturization with output ensured by making any one side of vibration body or performance body variable to a nut, and constitution wherein both sides contact with each other by an energizing means. CONSTITUTION:Ultrasonic motors 24 and 25 capable of rotatably driving nuts 5 and 6 individually are provided to them individually. The ultrasonic motors 24 and 25 have stators 24a and 25a for acting as a vibrating body formed into an annular state, piezoelectric elements 24b and 25b joined over the nearly whole surface of one end surface of the stators 24a and 25a to excite them, and rotors 24c and 25c, that is, performance bodies, similarly formed in an annular state to be provided so as to join the other end surfaces of the stators 24a and 25a. The advancing and retreating movement, rotation movement, and composite movement of them of a screw shaft 3, that is, a robot hand 1, can be freely performed by performing both the ultrasonic motors 24 and 25 individually to appropriately change the rotation directions and rotation speeds of the respective nuts 5 and 6. |
