DocumentCode
2356317
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
fYear
2010
fDate
21-24 March 2010
Firstpage
490
Lastpage
495
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Advanced Motion Control, 2010 11th IEEE International Workshop on
Conference_Location
Nagaoka, Niigata
ISSN
1943-6572
Print_ISBN
978-1-4244-6668-9
Electronic_ISBN
1943-6572
Type
conf
DOI
10.1109/AMC.2010.5464081
Filename
5464081
Link To Document