Actuator device and method for manufacturing actuator device
An actuator device includes a support portion; a first movable portion; a second movable portion; a first connection portion that connects the first and second movable portions such that the first movable portion is swingable around a first axis; a second connection portion that connects the second movable portion and the support portion such that the first movable portion is swingable around the first axis. Two natural angular frequencies ω 1 and ω 2 (where ω 1 <ω 2 ) for vibration of the first and second movable portions around the first axis satisfy one of the following equation (1) and equation (2) and do not satisfy the other, [ Equation 1 ] 0 < 1 - ( ω 1 ω ii ) 2 ≤ 0.2 ( 1 ) [ Equation 2 ] 0 < ( ω 2 ω ii ) 2 - 1 ≤ 0.2 ( 2 ) In the above equations, ω ii =(k i /j i ) 1/2 , k i is a torsional spring constant of the first connection portion around the first axis, and j i is an inertia moment of the first movable portion around the first axis.
1. An actuator device comprising:
a support portion;
a first movable portion;
a second movable portion;
a first connection portion that connects the first movable portion and the second movable portion to each other such that the first movable portion is swingable around a first axis;
a second connection portion that connects the second movable portion and the support portion to each other such that the first movable portion is swingable around the first axis by vibrating the second movable portion; and
a drive unit that applies a drive force to the second movable portion,
wherein two natural angular frequencies ω 1 and ω 2 (where ω 1 <ω 2 ) for vibration of the first movable portion and the second movable portion around the first axis satisfy the following equation (1) and do not satisfy the other following equation (2), and
a torsional spring constant of the second connection portion around the first axis is larger than a torsional spring constant of the first connection portion around the first axis,
[
Equation
1
]
0
<
1
-
(
ω
1
ω
ii
)
2
≤
0.2
(
1
)
[
Equation
2
]
0
<
(
ω
2
ω
ii
)
2
-
1
≤
0.2
(
2
)
where in the above equations, ω ii =(k i /j i ) 1/2 , k i is a torsional spring constant of the first connection portion around the first axis, and j i is an inertia moment of the first movable portion around the first axis.
2. The actuator device according to claim 1 ,
wherein the second connection portion connects the second movable portion and the support portion to each other such that the second movable portion is swingable around a second axis intersecting the first axis.
3. The actuator device according to claim 1 ,
wherein the first connection portion includes a widened portion whose width increases as approaching the first movable portion.
4. The actuator device according to claim 1 ,
wherein a wiring connected to the drive unit is provided on the second connection portion.
5. The actuator device according to claim 1 ,
wherein the first movable portion includes a main body portion, a frame portion surrounding the main body portion, and a connecting portion that connects the main body portion and the frame portion to each other, and the first connection portion is connected to the frame portion.
6. An actuator device comprising:
a support portion;
a first movable portion;
a second movable portion;
a first connection portion that connects the first movable portion and the second movable portion to each other such that the first movable portion is swingable around a first axis;
a second connection portion that connects the second movable portion and the support portion to each other such that the first movable portion is swingable around the first axis by vibrating the second movable portion; and
a drive unit that applies a drive force to the second movable portion,
wherein two natural angular frequencies ω 1 and ω 2 (where ω 1 <ω 2 ) for vibration of the first movable portion and the second movable portion around the first axis satisfy the following equation (4) and do not satisfy the following equation (3), and
a torsional spring constant of the second connection portion around the first axis is smaller than a torsional spring constant of the first connection portion around the first axis,
[
Equation
3
]
0
<
1
-
(
ω
1
ω
ii
)
2
≤
0.2
(
3
)
[
Equation
4
]
0
<
(
ω
2
ω
ii
)
2
-
1
≤
0.2
(
4
)
where in the above equations, ω ii =(k i /j i ) 1/2 , k i is the torsional spring constant of the first connection portion around the first axis, and j i is an inertia moment of the first movable portion around the first axis.
7. The actuator device according to claim 6 ,
wherein the second connection portion connects the second movable portion and the support portion to each other such that the second movable portion is swingable around a second axis intersecting the first axis.
8. The actuator device according to claim 6 ,
wherein the first connection portion includes a widened portion whose width increases as approaching the first movable portion.
9. The actuator device according to claim 6 ,
wherein a wiring connected to the drive unit is provided on the second connection portion.
10. The actuator device according to claim 6 ,
wherein the first movable portion includes a main body portion, a frame portion surrounding the main body portion, and a connecting portion that connects the main body portion and the frame portion to each other, and the first connection portion is connected to the frame portion.
11. An actuator device comprising:
a support portion;
a first movable portion;
a second movable portion;
a first connection portion that connects the first movable portion and the second movable portion to each other such that the first movable portion is swingable around a first axis;
a second connection portion that connects the second movable portion and the support portion to each other; and
a drive unit provided in at least one of the first movable portion and the first connection portion to apply a drive force to the first movable portion,
wherein two natural angular frequencies ω 1 and ω 2 (where ω 1 <ω 2 ) for vibration of the first movable portion and the second movable portion around the first axis satisfy the following equation (5) and do not satisfy the following equation (6), and
a torsional spring constant of the second connection portion around the first axis is larger than a torsional spring constant of the first connection portion around the first axis,
[
Equation
5
]
0
<
4
ω
i
o
2
ω
oo
2
-
ω
1
2
≤
1
(
5
)
[
Equation
6
]
ω
oo
2
-
ω
2
2
ω
io
2
≤
-
6
(
6
)
where in the above equations, ω io =(k i /j o ) 1/2 , ω oo =(k o /j o ) 1/2 , k i is the torsional spring constant of the first connection portion around the first axis, k o is the torsional spring constant of the second connection portion around the first axis, and j o is an inertia moment of the second movable portion around the first axis.
12. The actuator device according to claim 11 ,
wherein the second connection portion connects the second movable portion and the support portion to each other such that the second movable portion is swingable around a second axis intersecting the first axis.
13. The actuator device according to claim 11 ,
wherein the first connection portion includes a widened portion whose width increases as approaching the first movable portion.
14. The actuator device according to claim 11 ,
wherein a wiring connected to the drive unit is provided on the second connection portion.
15. The actuator device according to claim 11 ,
wherein the first movable portion includes a main body portion, a frame portion surrounding the main body portion, and a connecting portion that connects the main body portion and the frame portion to each other, and the first connection portion is connected to the frame portion.
16. An actuator device comprising:
a support portion;
a first movable portion;
a second movable portion;
a first connection portion that connects the first movable portion and the second movable portion to each other such that the first movable portion is swingable around a first axis;
a second connection portion that connects the second movable portion and the support portion to each other; and
a drive unit provided in at least one of the first movable portion and the first connection portion to apply a drive force to the first movable portion,
wherein two natural angular frequencies ω 1 and ω 2 (where ω 1 <ω 2 ) for vibration of the first movable portion and the second movable portion around the first axis satisfy the following equation (8) and do not satisfy the following equation (7), and
a torsional spring constant of the second connection portion around the first axis is smaller than a torsional spring constant of the first connection portion around the first axis,
[
Equation
7
]
0
<
4
ω
io
2
ω
oo
2
-
ω
1
2
≤
1
(
7
)
[
Equation
8
]
ω
oo
2
-
ω
2
2
ω
io
2
≤
-
6
(
8
)
where in the above equations, ω io =(k i /j o ) 1/2 , ω oo =(k o /j o ) 1/2 , k i is the torsional spring constant of the first connection portion around the first axis, k o is the torsional spring constant of the second connection portion around the first axis, and j o is an inertia moment of the second movable portion around the first axis.
17. The actuator device according to claim 16 ,
wherein the second connection portion connects the second movable portion and the support portion to each other such that the second movable portion is swingable around a second axis intersecting the first axis.
18. The actuator device according to claim 16 ,
wherein the first connection portion includes a widened portion whose width increases as approaching the first movable portion.
19. The actuator device according to claim 16 ,
wherein a wiring connected to the drive unit is provided on the second connection portion.
20. The actuator device according to claim 16 ,
wherein the first movable portion includes a main body portion, a frame portion surrounding the main body portion, and a connecting portion that connects the main body portion and the frame portion to each other, and the first connection portion is connected to the frame portion.