An active/passive joint for reconfiguration applications
In this paper, an active/passive reconfigurable 2R joint is presented. Direct and inverse kinematic problems and the force transmission are considered. The advantages of the current design show its superiority with respect to previous designs. A prototype of the joint was built and tested, proving t...
| Autores: | , , , |
|---|---|
| Tipo de recurso: | capítulo de libro |
| Fecha de publicación: | 2019 |
| País: | España |
| Institución: | Universidad del País Vasco |
| Repositorio: | Addi. Archivo Digital para la Docencia y la Investigación |
| OAI Identifier: | oai:addi.ehu.eus:10810/39088 |
| Acceso en línea: | http://hdl.handle.net/10810/39088 |
| Access Level: | acceso abierto |
| Palabra clave: | active/passive joint manipulator reconfigurable prototype |
| Sumario: | In this paper, an active/passive reconfigurable 2R joint is presented. Direct and inverse kinematic problems and the force transmission are considered. The advantages of the current design show its superiority with respect to previous designs. A prototype of the joint was built and tested, proving the viability of the concept. The proposed joint can be applied in reconfigurable manipulators, serial robot arm wrists, humanoid robot shoulder and waist, where 2R active joints are required. |
|---|