Patent ID: 7975467

Claim:
An apparatus for driving a body with 3-degrees of freedom angular motion, comprising: the body connected to a fixing part to be rotatable centering around a pitch axis, a yaw axis, and a roll axis; a pitch axis driving unit for rotating the body centering around the pitch axis; and a yaw axis driving unit for rotating the body centering around the yaw axis, wherein at least one of the pitch axis driving unit and the yaw axis driving unit restricts the body from rotating centering around the roll axis fixed to the body, wherein the pitch axis driving unit restricts the body from rotating centering around the roll axis fixed to the body, and wherein the pitch axis driving unit comprises: a pitch axis cylinder fixed to the fixing part; a pitch axis piston reciprocatingly disposed at the pitch axis cylinder; and a pitch axis connecting rod having one end connected to the body to restrict the body from rotating centering around the roll axis fixed to the body, and another end connected to the pitch axis piston by a ball joint.