New joint design for three-dimensional hyper redundant robots
New joint design for three-dimensional hyper redundant robots
复制标题
三维超冗余机器人的新关节设计
DOI：
10.1109/iros.2003.1249713
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发表时间：
2003
期刊：
影响因子：
--
通讯作者：
H. Choset
中科院分区：
文献类型：
--
作者：
Elie A. Shammas;A. Wolf;H. B. Brown;H. Choset
提出了一种新颖的两自由度关节机构的紧凑设计方法。该关节针对紧凑性、强度和运动范围进行了优化，使其成为构建空间或三维超冗余机器人的理想选择。我们还识别和分类了导致这一新概念发展的各种先前的关节设计。最后，我们提出了关节正向运动学，力和扭矩计算，以验证关节的运动范围和机械效益。
This paper presents a novel compact design for a two degrees of freedom (DOF) joint mechanism. The joint is optimized for compactness, strength and range of motion which makes it ideal for constructing spatial or three-dimensional hyper redundant robots. We also identify and classify various prior joint designs that led to the development of this new concept. Finally, we present the joint forward kinematics, and force and torque calculations to verify the joint's range of motion and mechanical advantage.