To provide an all direction moving mechanism having a simple configuration and enabling stable and smooth movement in all directions even on a rough road surface without requiring steering like wheels.
The all direction moving mechanism 10 is equipped with a moving device in which a plurality of actuators 12 having bar-shaped sheet holding members 13 for holding flat plate-shaped friction sheets 11, servomotors 14 serving as drive means and crank mechanisms 15 for connecting the sheet holding members 13 to output shafts of the servomotors 14 are arranged to form a grid; and with a phase control device 17 for controlling a drive phase of each of the servomotors 14. By the phase control mechanism 17, the drive phases of the respective servomotors 14 are controlled and shifted to predetermined directions in terms of time to make the friction sheets 11 generate traveling waves traveling to the predetermined directions and move the friction sheets 11 to the predetermined directions.
MITAMURA YUKI
IMAI SHOHEI
SATO KUNIAKI
| JPS61166767A | 1986-07-28 | |||
| JPH09168982A | 1997-06-30 | |||
| JPS54102718A | 1979-08-13 | |||
| JP2008097349A | 2008-04-24 | |||
| JPH0979213A | 1997-03-25 |
| WO2003022666A1 | 2003-03-20 |