Name
Abstract | ||
|---|---|---|
In this paper, we present a robotic joint mechanism that makes it possible to mimic the humanlike motions. The proposed robotic joint called double active universal joint (DAUJ), generates two-degree of freedom (dof) motion suppressing rolling by the coupled motions of two independent motors. Mechanism design and kinematics are mentioned and two application examples; an anthropomorphic finger and an inpipe inspection robot are outlined. The results of basic experiments are reported to confirm the effectiveness of the proposed mechanism. Also, we briefly introduce the advantage that the compliance of the proposed mechanism can be easily controlled by modulating the engagement period of the magnetic clutch. |
Year | DOI | Venue |
|---|---|---|
2001 | 10.1109/70.938386 | IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION |
Keywords | Field | DocType |
anthropomorphic, double active universal joint (DAUJ) | Clutch,Motion control,Kinematics,Universal joint,Control theory,Control engineering,Mechanism design,Engineering,Robot,Manipulator kinematics,Electromagnetic clutch | Journal |
Volume | Issue | ISSN |
17 | 3 | 1042-296X |
Citations | PageRank | References |
6 | 0.63 | 2 |
Authors | ||
2 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Sungmoo Ryew | 1 | 59 | 15.00 |
| Hyoukryeol Choi | 2 | 97 | 20.14 |