| 摘要 |
PURPOSE:To obtain a small and highly accurate multi-degree-of-freedom actuator by providing a rotor, oscillators oscillating in orthogonal directions, and a ring contacting with the rotor to transmit the oscillation from the oscillators to the rotor. CONSTITUTION:A ball contact ring 7 is provided with a beveled part 17 contacting with a ball 9, and kinetic energy is transmitted from each oscillator 3 to the ball 9 through static frictional force produced between the beveled part 17 and the ball 9 during oscillation of the ball 3. Longitudinal oscillation of each oscillator 3 is then combined with lateral oscillation at other part than the surface to produce an oval oscillation thus establishing an intermittent feed mode or a traveling wave mode on the surface of the ball contact ring. Furthermore, a ball contacting with the ball contact ring 7 causes rotary motion through the frictional force thus driving an arm 2. According to the constitution, driving of thetax, thetaz is realized in intermittent feed mode and driving of thetay is realized in traveling wave mode. |
