| 摘要 |
PURPOSE:To provide a surface wave manipulator capable of moving a joint part smoothly with simple structure while being compact and lightweight. CONSTITUTION:An exterior case 5 is formed into spherical shell shape so as to form a spherical cavity 8 inside. Two stators 6, 7 formed of surface wave vibrators are attached to the inner surface of the cavity 8 in such a way that the advance directions of the surface waves are mutually othogonal. A spherical rotor 4 is enclosed in the exterior case 5, and the stators 6, 7 are brought into pressure contact with the surface of the rotor 4. When the stators 6, 7 are driven, the rotor 4 is rotated by the surface waves. |
