Double active universal joint (DAUJ): robotic joint mechanism for human-like motions

We present a robotic joint mechanism that makes it possible to mimic the human-like motions. The proposed robotic joint, called the double active universal joint (DAUJ), generates a two-degree of freedom motion suppressing rolling by the coupled motions of two independent motors. The mechanism desig...

Full description

Saved in:
Bibliographic Details
Published inIEEE transactions on robotics and automation Vol. 17; no. 3; pp. 290 - 300
Main Authors Ryew, Sungmoo, Choi, Hyoukryeol
Format Journal Article
LanguageEnglish
Published IEEE 01.06.2001
Subjects
Anthropomorphism
Couplings
Fingers
Grasping
Humanoid robots
Humans
Inspection
Kinematics
Magnetic modulators
Motors
Retarding
Robotics
Robots
Universal joints
Universal motors
Online AccessGet full text

Cover

More Information
Summary:We present a robotic joint mechanism that makes it possible to mimic the human-like motions. The proposed robotic joint, called the double active universal joint (DAUJ), generates a two-degree of freedom motion suppressing rolling by the coupled motions of two independent motors. The mechanism design and kinematics are mentioned. Two application examples are outlined: an anthropomorphic finger and an in-pipe inspection robot. The results of basic experiments are reported to confirm the effectiveness of the proposed mechanism. Also, we briefly introduce the advantage that the compliance of the proposed mechanism can be easily controlled by modulating the engagement period of the magnetic clutch.
Bibliography:ObjectType-Article-2
SourceType-Scholarly Journals-1
ObjectType-Feature-1
content type line 23
ISSN:1042-296X
2374-958X
DOI:10.1109/70.938386