To make it possible to increase the distances between connection points for multiple expanding and contracting members and a base structure and to increase the storability and rigidity, and to facilitate attitude and position precision control in space by using link mechanisms which can be expanded synchronously with an expansion structure to be supported.
The expanding and contracting members 1 to 3 are coupled with the expansion structure 40 through universal joints 4 to 6 and there coupled with link mechanism 11, 12, and 13 through joints 7, 8, and 9. After the link mechanisms 11 to 13 are expanded with the driving force of a spiral spring, the latch mechanism of a hinge operates to restrict the relative rotation of a rod-shaped member and thus a truss structure is approximately obtained to form a rigid structure. The expanding and contracting members 1 to 3 move two cylindrical members through the driving of a motor to vary the relative distance between the expansion structure 40 and base structure 30, and the expansion structure is rotated on a spherical joint 10 as a pivot point around a pitch axis, a roll axis, and a yaw axis to perform attitude control.
NAKAGAWA JUN
HARADA SATOSHI
NIPPON TELEGRAPH & TELEPHONE
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