Three-dimensional rigid ball driving system

A three-dimensional rigid ball driving system comprising:

• a support frame (10) having a polyhedral shape;
• a rigid ball (20) positioned at the center of an inner portion of the support frame (10);
• a plurality of ball bearings (30) installed at corners of inner sides of the support frame (10), respectively, and contacting a surface of the rigid ball (20);
• a plurality of electromagnets (40) disposed around the ball bearings (30) and generating magnetic fields to rotate the rigid ball (20);
• and
• a controller (50) controlling the electromagnets (40) to control a rotation direction and a rotation speed of the rigid ball (20),
• wherein the ball bearings (30) include balls (31), bearing racers (32) installed in the support frame (10) and having grooves (32A) having the balls (31) seated therein and having a hemispherical shape, and bearing cages (33) coupled to upper portions of the bearing racers (32) and having guide grooves (33A) formed therein and having a hemispherical shape,
• the balls (31) being installed so as to be confined in grooves formed by allowing the grooves (32A) of the bearing racers (32) and the guide grooves (33A) of the bearing cages (33) to meet each other.