Designing Noncircular Pulleys to Realize Target Motion Between Two Joints
Designing Noncircular Pulleys to Realize Target Motion Between Two Joints
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DOI：
10.1109/tmech.2016.2614961
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发表时间：
2017-02-01
影响因子：
6.4
通讯作者：
Hosoda, Koh
中科院分区：
文献类型：
--
作者：
Shirafuji, Shouhei;Ikemoto, Shuhei;Hosoda, Koh
许多机构通过限制关节对的运动来减少其目标运动的输入数量。本研究设计了一种新型的约束机构，使用一对非圆滑轮和一根金属丝。线将关节的运动限制为目标运动，同时实现紧凑的结构。我们分析得出的形状的非圆形滑轮使用所需的关节之间的关系和他们的力矩臂的长度。所提出的机制的可用性进行评估的机器人腿，保持其上半身的高度和姿态的约束下。
Many mechanisms reduce the number of inputs for their target motions by restricting the motions of pairs of joints. This study designs a novel constraint mechanism using a pair of noncircular pulleys and a wire. The wire restricts the motion of the joints to the target motion while enabling a compact structure. We analytically derive the shape of the noncircular pulleys using the desired relation between the joints and the lengths of their moment arms. The usability of the proposed mechanism is evaluated on a robotic leg, which maintains the height and posture of its upper body under the constraints.