Three-dimensional rigid ball driving system
Provided is a three-dimensional rigid ball driving system including: a support frame having a polyhedral shape; a rigid ball positioned at the center of an inner portion of the support frame; a plurality of ball bearings installed at corners of inner sides of the support frame, respectively, and contacting a surface of the rigid ball; and a plurality of electromagnets disposed around the ball bearings and generating magnetic fields to rotate the rigid ball; and a controller controlling the electromagnets to control a rotation direction and a rotation speed of the rigid ball.
1. A three-dimensional rigid ball driving system comprising:
a support frame ( 10 ) having a polyhedral shape;
a rigid ball ( 20 ) positioned at the center of an inner portion of the support frame ( 10 );
a plurality of ball bearings ( 30 ) installed at corners of inner sides of the support frame ( 10 ), respectively, and contacting a surface of the rigid ball ( 20 );
a plurality of electromagnets ( 40 ) disposed around the ball bearings ( 30 ) and generating magnetic fields to rotate the rigid ball ( 20 ); and
a controller ( 50 ) controlling the electromagnets ( 40 ) to control a rotation direction and a rotation speed of the rigid ball ( 20 ),
wherein the ball bearings ( 30 ) include balls ( 31 ), bearing racers ( 32 ) installed in the support frame ( 10 ) and having grooves ( 32 A) having the balls ( 31 ) seated therein and having a hemispherical shape, and bearing cages ( 33 ) coupled to upper portions of the bearing racers ( 32 ) and having guide grooves ( 33 A) formed therein and having a hemispherical shape,
the balls ( 31 ) being installed so as to be confined in grooves formed by allowing the grooves ( 32 A) of the bearing racers ( 32 ) and the guide grooves ( 33 A) of the bearing cages ( 33 ) to meet each other.
2. The three-dimensional rigid ball driving system of claim 1 , wherein centers of the balls ( 31 ) are positioned at points defined by following Equation 3:
X
=
±
R
+
r
(
3
)
,
Y
=
±
R
+
r
(
3
)
,
Z
=
±
R
+
r
(
3
)
[
Equation
3
]
where X, Y, and Z are coordinate values of points at which the centers of the balls ( 31 ) of the ball bearings ( 30 ) are positioned, R is a radius of the rigid ball ( 20 ), and r is a radius of the ball ( 31 ) of the ball bearing ( 30 ).
3. The three-dimensional rigid ball driving system of claim 1 , wherein the ball bearing ( 30 ) and the support frame ( 10 ) have a vibration damping member installed therebetween.
4. The three-dimensional rigid ball driving system of claim 1 , wherein a cross section of the support frame in a length direction has a ‘ ’ shape.
5. A three-dimensional rigid ball driving system comprising:
a support frame ( 10 ) having a polyhedral shape;
a rigid ball ( 20 ) positioned at the center of an inner portion of the support frame ( 10 );
a plurality of ball bearings ( 30 ) installed at corners of inner sides of the support frame ( 10 ), respectively, and contacting a surface of the rigid ball ( 20 );
a plurality of electromagnets ( 40 ) disposed around the ball bearings ( 30 ) and generating magnetic fields to rotate the rigid ball ( 20 ); and
a controller ( 50 ) controlling the electromagnets ( 40 ) to control a rotation direction and a rotation speed of the rigid ball ( 20 ),
wherein a cross section of the support frame in a length direction has a ‘ ’ shape.