DocumentCode
2233879
Title
A novel mechanism for implementing multiple collocated spherical joints
Author
Bosscher, Paul ; Ebert-Uphoff, Imme
Author_Institution
Woodruff Sch. of Mech. Eng., Georgia Inst. of Technol., Atlanta, GA, USA
Volume
1
fYear
2003
fDate
14-19 Sept. 2003
Firstpage
336
Abstract
The paper presents the spherical joint mechanism, a new mechanism for implementing multiple collocated spherical joints. The mechanism is designed to be strong, rigid, easy to build and have a large range of motion. Two different design concepts are presented and compared to other implementations of spherical joints previously proposed. Finally, implementation issues and potential applications of the spherical joint mechanism are discussed.
Keywords
robot kinematics; shear modulus; multiple collocated spherical joints; parallel mechanisms; rigidity; spherical joint mechanism applications; spherical joint mechanism design; Aerospace industry; Construction industry; Defense industry; Equations; Interference; Joining processes; Kinematics; Shape; Sockets;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2003. Proceedings. ICRA '03. IEEE International Conference on
ISSN
1050-4729
Print_ISBN
0-7803-7736-2
Type
conf
DOI
10.1109/ROBOT.2003.1241618
Filename
1241618
Link To Document