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Optimized Design of an RSSR Mechanism for an Unpowered Assistive Aid Read chapter Read first chapter

2020 | OriginalPaper | Chapter

An Active/Passive Joint for Reconfiguration Applications

Authors : Mykhailo Riabtsev, Victor Petuya, Aitor Riera, Mónica Urízar

Published in: Recent Advances in Mechanisms, Transmissions and Applications

Publisher: Springer Singapore

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Abstract

In this paper, an active/passive reconfigurable 2R joint is presented. Direct and inverse kinematic problems and the force transmission are considered. The advantages of the current design show its superiority with respect to previous designs. A prototype of the joint was built and tested, proving the viability of the concept. The proposed joint can be applied in reconfigurable manipulators, serial robot arm wrists, humanoid robot shoulder and waist, where 2R active joints are required.

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Metadata
Title
An Active/Passive Joint for Reconfiguration Applications
Authors
Mykhailo Riabtsev
Victor Petuya
Aitor Riera
Mónica Urízar
Copyright Year
2020
Publisher
Springer Singapore
Book
Recent Advances in Mechanisms, Transmissions and Applications

Print ISBN: 978-981-15-0141-8

Electronic ISBN: 978-981-15-0142-5

Copyright Year: 2020

DOI
https://doi.org/10.1007/978-981-15-0142-5_14

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