PURPOSE: To obtain a small-sized and lightweight antenna driving device by inserting a shaft through slits of driving members orthogonal to each other and arranging the rotation center of a spherical bearing and those of first and second driving members on the same plane.

CONSTITUTION: The first driving member 16 and the second driving member 19 are so arranged that a rotation center line A of the member 16 and a rotation center line B of the member 19 are orthogonal to each other, and the rotation center of a bearing 14a is arranged at the intersection between center lines A and B. When an axis A rotating motor 18 is energized to be rotated forward (in the direction of an arrow C in a figure), a shaft 14 is turned around a bearing 14a while being guided by a slit 19c of the second driving member 19, and an antenna 10 is moved. When an axis B rotating motor 20 is energized to be rotated forward (in the direction of an arrow D in the figure), the shaft 14 is turned around the bearing 14a while being guided by a slit 16c of the first driving member 16. When the axis A rotating motor 18 and the B axis rotating motor 20 are simultaneously energized, the shaft 14 is driven around the bearing 14a in such direction that energizing forces in directions of axes A and B are balanced.