Abstract: A differential mechanism includes: a rotating frame rotatably provided in a main body frame; an inner worm gear formed in a cylindrical shape, covering the outer periphery of the rotating frame, and rotatably provided coaxially with the rotating frame, and having a spiral tooth formed on the cylindrical inner side; and a worm wheel rotatably provided on the rotating frame in a direction orthogonal to an axis of the rotating frame and meshing with the inner worm gear.

Abstract: A multi-directional drive device includes a first drive motor supported by a holding portion and having a first drive shaft, a rotary member integrally connected to the first drive shaft of the first drive motor and configured to rotate together with the first drive shaft, a spherical body supported on the rotary member to be relatively rotatable and configured to rotate about a second rotation center axis different from a first rotation center axis of the first drive shaft, a second drive motor mounted on the rotary member and having a second drive shaft independent of the first drive shaft, and a transmission mechanism provided between the second drive shaft of the second drive motor and the spherical body on the rotary member and configured to transmit power of the second drive shaft to the spherical body and cause the spherical body to slidably rotate about the second rotation center axis with respect to the rotary member, wherein a body to be operated is supported by the spherical body.

Abstract: A multidirectional drive device includes: a driven member that comprises a spherical surface having depressions and protrusions; a rotation driving part that is in contact with the spherical surface of the driven member and rotates the driven member; and a supporting member that is fixed to the driven member and supports an operated body. At least either one of a position and an orientation of the operated body is adjusted by rotation of the driven member.

Abstract: A multidirectional drive device includes: a driven member that comprises a spherical surface having depressions and protrusions; a rotation driving part that is in contact with the spherical surface of the driven member and rotates the driven member; and a supporting member that is fixed to the driven member and supports an operated body. At least either one of a position and an orientation of the operated body is adjusted by rotation of the driven member.