contributor author | Schreiber, Louis-Thomas | |
contributor author | Gosselin, Clément | |
date accessioned | 2017-11-25T07:18:18Z | |
date available | 2017-11-25T07:18:18Z | |
date copyright | 2017/23/3 | |
date issued | 2017 | |
identifier issn | 1942-4302 | |
identifier other | jmr_009_03_031014.pdf | |
identifier uri | http://138.201.223.254:8080/yetl1/handle/yetl/4235101 | |
description abstract | This paper presents a novel passive redundant spherical joint with a very large range of motion. A kinematic model is first developed in order to provide a framework for the analysis. The principle of the redundant joint is then introduced. The proposed joint does not require any active component since the redundancy is passively handled using springs. A static model of the joint is developed in order to clearly demonstrate how all singularities or jamming configurations can be avoided. Two possible arrangements are presented, one using linear springs and one using a torsional spring. Finally, experimental prototypes are demonstrated that can attain a range of tilt angle of ±150 deg. | |
publisher | The American Society of Mechanical Engineers (ASME) | |
title | Passively Driven Redundant Spherical Joint With Very Large Range of Motion | |
type | Journal Paper | |
journal volume | 9 | |
journal issue | 3 | |
journal title | Journal of Mechanisms and Robotics | |
identifier doi | 10.1115/1.4035802 | |
journal fristpage | 31014 | |
journal lastpage | 031014-10 | |
tree | Journal of Mechanisms and Robotics:;2017:;volume( 009 ):;issue: 003 | |
contenttype | Fulltext | |