|発明の名称||TROCHOID DRIVING MECHANISM|
PROBLEM TO BE SOLVED: To obtain stability on the uneven ground by driving an operation member which acts with the outside.
SOLUTION: A trochoid driving mechanism 1 includes: a traveling section 30 which includes three wheels 346 in a circumferential direction and turns around a driving shaft 22; and an eccentric driving section 20 which is connected in a freely rotatable manner by a connecting shaft O in the center of the traveling section 30 and moves the traveling section 30 in a two-dimensional direction on a turning plane. The eccentric driving section 20 includes: a slide portion 25 which relatively moves the driving shaft 22 with respect to the connecting shaft O on a surface parallel with the turning plane; and a gear 27b which is concentric with the driving shaft 22. The traveling section 30 includes: a base 32 which turns integrally with the driving shaft 22; a steering link portion 35 which makes a steering angle corresponding to a component slid by the slide portion 25 act on the wheels 346; and a gear train 36 which is interposed between the gear 27b and the wheels 346 and transfers a turning operation of the base 32 to the wheels 346.
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