DocumentCode
3454400
Title
Development of 3-DOF active rotational ball joint
Author
Yu, Yong ; Narita, Yoshitaka ; Harada, Yoshinori ; Tsujio, Showzow
Author_Institution
Dept. of Mech. Eng., Kagoshima Univ., Kagoshima
fYear
2007
fDate
15-18 Dec. 2007
Firstpage
1966
Lastpage
1971
Abstract
This paper develops a 3-DOF active rotational ball joint with a simple and compact mechanism, which can realize a rotation around an any- direction rotational axis with a well manipulability and can change its direction of rotational axis smoothly and arbitrarily when it is on rotating. The mechanism principle of this joint is proposed and analyzed. Then the ball joint is developed and experimental verification on the proposed mechanism is performed. The effectiveness of the mechanism principle is outlined by some experimental results.
Keywords
ball bearings; humanoid robots; robot dynamics; shafts; 3DOF active rotational ball joint; any-direction rotational axis; compact mechanism; humanoid robotics; Agriculture; Biomimetics; Hip; Humanoid robots; Humans; Mechanical engineering; Motion analysis; Neck; Shafts; Ultrasonic imaging; Active Rotation Joint; Parallel Mechanism; Three-DOF Ball Joint;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Biomimetics, 2007. ROBIO 2007. IEEE International Conference on
Conference_Location
Sanya
Print_ISBN
978-1-4244-1761-2
Electronic_ISBN
978-1-4244-1758-2
Type
conf
DOI
10.1109/ROBIO.2007.4522468
Filename
4522468
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