Title :
The rigidity of the bi-articular robotic arm with a planetary gear
Author :
Umemura, Atushi ; Saito, Yukio ; Haneyoshi, Toshimasa
Author_Institution :
Tokyo Denki Univ., Saitama, Japan
Abstract :
This paper describes the motor drive system which is applied a planetary to the power distribution mechanism. This motor drive system can realize the function of Bi-articular muscles peculiar to an animal. The relation between the motor drive and force is considered. The rigidity of the arm tip with bi-articlar muscles is shown.
Keywords :
gears; manipulator kinematics; motor drives; shear modulus; bi-articular robotic arm; motor drive system; planetary gear; power distribution mechanism; rigidity; Actuators; Equations; Gears; Manipulators; Motor drives; Muscles; Power distribution; Robots; Sun; Torque;
Conference_Titel :
Advanced Motion Control, 2010 11th IEEE International Workshop on
Conference_Location :
Nagaoka, Niigata
Print_ISBN :
978-1-4244-6668-9
Electronic_ISBN :
1943-6572
DOI :
10.1109/AMC.2010.5464081
