DocumentCode
2679722
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
fYear
2009
fDate
10-15 Oct. 2009
Firstpage
5153
Lastpage
5158
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;
fLanguage
English
Publisher
ieee
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
Type
conf
DOI
10.1109/IROS.2009.5354127
Filename
5354127
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