Development of Active 3-DOF Rotational Ball Joint with Hollow Shaft Motors-Reference-Cited by-同舟云学术

Development of Active 3-DOF Rotational Ball Joint with Hollow Shaft Motors

Published:2013-02-20 Issue:1 Volume:25 Page:89-96
ISSN:1883-8049
Container-title:Journal of Robotics and Mechatronics
language:en
Short-container-title:J. Robot. Mechatron.

Author:

Yu Yong, ,Narita Yoshitaka,Harada Yoshinori,Nakao Toshimi,

Abstract

This paper develops an active 3-DOF rotational ball joint with a simple and compact mechanism where three hollow shaft motors are used. The ball joint realizes rotation around an omnidirectional rotational axis with good manipulability and changes its direction of rotational axis smoothly and freely when it is on rotating. The mechanical principle of this joint is proposed and analyzed, then the ball joint is developed with good dynamics and low friction, and experimental verification of the proposed mechanism is performed. The effectiveness of the mechanism principle is outlined by experimental results.

Publisher

Fuji Technology Press Ltd.

Subject

Electrical and Electronic Engineering,General Computer Science

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