Patent attributes
A power transmission device is provided including: a base, provided with a pair of left and right drive pulleys; an intermediate member, rotatably supported by the base about a first axis; and a driven member, rotatably supported by the intermediate member about a second axis. A pair of left wires wound in opposite directions are fixed to the left drive pulley and the driven member. A pair of right wires wound in opposite directions to each other are fixed to the right drive pulley and the driven member. By the drive pulleys, when the driven member is rotated in the same direction about the second axis, torque in opposite directions about the first axis is applied to the driven member, and when the driven member is rotated in opposite directions about the second axis, torque in the same direction about the first axis is applied to the driven member.
