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
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;
Conference_Titel :
Robotics and Automation, 2003. Proceedings. ICRA '03. IEEE International Conference on
Print_ISBN :
0-7803-7736-2
DOI :
10.1109/ROBOT.2003.1241618
