Abstract
In this paper, we present a new two-dof anthropomorphic joint mechanism that makes it possible to mimic the humanlike motion completely. The proposed joint, called Double Active Universal Joint(DAUJ), generates the two-dof motion free of rolling by the coupled motions of two independent motor-clutch pairs. Also, it has the advantage that the compliance of the mechanism can be easily controlled by modulating the engagement period of the magnetic clutch. Mechanism design and kinematics will be mentioned and two application examples, an inpipe inspection robot and an anthropomorphic finger are outlined. In addition, basic experiments are performed to confirm the effectiveness of the proposed mechanism.
| Original language | English |
|---|---|
| Pages (from-to) | 1525-1530 |
| Number of pages | 6 |
| Journal | Proceedings - IEEE International Conference on Robotics and Automation |
| Volume | 2 |
| State | Published - 2000 |
| Event | ICRA 2000: IEEE International Conference on Robotics and Automation - San Francisco, CA, USA Duration: 24 Apr 2000 → 28 Apr 2000 |
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