Title :
Research of 3-DOF active rotational ball joint
Author :
Yu, Yong ; Narita, Yoshitaka ; Harada, Yoshinori ; Nakao, Toshimi
Author_Institution :
Dept. of Mech. Eng., Kagoshima Univ., Kagoshima, Japan
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 with good dynamics and lower friction and experimental verification on the proposed mechanism is performed. The effectiveness of the mechanism principle is outlined by some experimental results.
Keywords :
humanoid robots; 3-DOF active rotational ball joint; compact mechanism; humanoid robot; parallel mechanism; Agriculture; Friction; Hip; Humanoid robots; Humans; Intelligent robots; Mechanical engineering; Shafts; USA Councils; Ultrasonic imaging; Active Rotation Joint; Parallel Mechanism; Three-DOF Ball Joint;
Conference_Titel :
Intelligent Robots and Systems, 2009. IROS 2009. IEEE/RSJ International Conference on
Conference_Location :
St. Louis, MO
Print_ISBN :
978-1-4244-3803-7
Electronic_ISBN :
978-1-4244-3804-4
DOI :
10.1109/IROS.2009.5354127
