Double active universal joint (DAUJ): robotic joint mechanism for human-like motions
Double active universal joint (DAUJ): robotic joint mechanism for human-like motions
复制标题
双主动万向节（DAUJ）：用于类人运动的机器人关节机构
DOI：
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发表时间：
2001
期刊：
影响因子：
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通讯作者：
Hyoukryeol Choi
中科院分区：
文献类型：
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作者：
S. Ryew;Hyoukryeol Choi
我们提出了一种机器人关节机制，使其能够模仿类似人类的运动。提出的机器人关节称为双主动万向节（daj），它通过两个独立电机的耦合运动产生抑制滚动的二自由度运动。介绍了机构设计和运动学。介绍了拟人手指和管道内检测机器人的应用实例。基础实验结果证实了该机制的有效性。此外，我们还简要介绍了该机构的优点，即通过调节磁离合器的啮合周期可以很容易地控制其顺应性。
We present a robotic joint mechanism that makes it possible to mimic the human-like motions. The proposed robotic joint, called the double active universal joint (DAUJ), generates a two-degree of freedom motion suppressing rolling by the coupled motions of two independent motors. The mechanism design and kinematics are mentioned. Two application examples are outlined: an anthropomorphic finger and an in-pipe inspection robot. 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.