Patent ID: 7548685

Claim:
A rotating device for rotating a drivable element while supporting it at first, second and third points, the drivable element having an arbitrary point located at inner sides of the three supporting points, a first axis which is an axis located on a specified plane including the arbitrary point and passing the arbitrary point, a second axis passing the arbitrary point and orthogonal to the first axis on the plane, and a third axis which is an axis perpendicular to the plane and passing the arbitrary point, comprising: a first actuator for giving a driving force along a direction parallel with the third axis, the first supporting point being an acting portion of the first actuator; a second actuator for giving a driving force along a direction parallel with the third axis, the second supporting point located at a side of the first or second axis opposite to the first supporting point being an acting portion of the second actuator; a supporting portion provided at the third supporting point to support the drivable element rotatably about a first rotation axis extending in a direction parallel with the first axis and/or a second rotation axis extending in a direction parallel with the second axis by the driving forces given by the first and second actuators; a first position detector located on or near a line connecting the acting portions of the first and second actuators, including a detecting portion near the acting portion of the first actuator and adapted to detect the rotational posture of the drivable element; and a second position detector located on or near the line connecting the acting portions of the first and second actuators, including a detecting portion near the acting portion of the second actuator and adapted to detect the rotational posture of the drivable element.