Title :
Development of 3-DOF active rotational ball joint
Author :
Yu, Yong ; Narita, Yoshitaka ; Harada, Yoshinori ; Tsujio, Showzow
Author_Institution :
Dept. of Mech. Eng., Kagoshima Univ., Kagoshima
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 and experimental verification on the proposed mechanism is performed. The effectiveness of the mechanism principle is outlined by some experimental results.
Keywords :
ball bearings; humanoid robots; robot dynamics; shafts; 3DOF active rotational ball joint; any-direction rotational axis; compact mechanism; humanoid robotics; Agriculture; Biomimetics; Hip; Humanoid robots; Humans; Mechanical engineering; Motion analysis; Neck; Shafts; Ultrasonic imaging; Active Rotation Joint; Parallel Mechanism; Three-DOF Ball Joint;
Conference_Titel :
Robotics and Biomimetics, 2007. ROBIO 2007. IEEE International Conference on
Conference_Location :
Sanya
Print_ISBN :
978-1-4244-1761-2
Electronic_ISBN :
978-1-4244-1758-2
DOI :
10.1109/ROBIO.2007.4522468
