{"title":"具有独立关节动作的新型自适应被动关节机构简介","authors":"Sunhyuk Back, Hyunhwan Jeong","doi":"10.1109/Humanoids43949.2019.9035061","DOIUrl":null,"url":null,"abstract":"This paper introduced a novel manipulator joint mechanism which has adaptive and independent joint motion properties with the passive joint configuration. Because the proposed manipulation mechanism has just one actuator to operate multiple joint (a passive joint mechanism), lighter manipulator systems can be configured with the proposed system. Adaptive joint property of the proposed mechanism makes reaction motion for the external wrench. Also, although the proposed novel mechanism has passive joints, it can moves each joint independently. We introduce the design concept and mechanism analysis. Then the validity and feasibility are verified with experiments.","PeriodicalId":404758,"journal":{"name":"2019 IEEE-RAS 19th International Conference on Humanoid Robots (Humanoids)","volume":"69 6 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2019-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Introduction to New Adaptive Passive Joint Mechanism with Independent Joint Operation\",\"authors\":\"Sunhyuk Back, Hyunhwan Jeong\",\"doi\":\"10.1109/Humanoids43949.2019.9035061\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"This paper introduced a novel manipulator joint mechanism which has adaptive and independent joint motion properties with the passive joint configuration. Because the proposed manipulation mechanism has just one actuator to operate multiple joint (a passive joint mechanism), lighter manipulator systems can be configured with the proposed system. Adaptive joint property of the proposed mechanism makes reaction motion for the external wrench. Also, although the proposed novel mechanism has passive joints, it can moves each joint independently. We introduce the design concept and mechanism analysis. Then the validity and feasibility are verified with experiments.\",\"PeriodicalId\":404758,\"journal\":{\"name\":\"2019 IEEE-RAS 19th International Conference on Humanoid Robots (Humanoids)\",\"volume\":\"69 6 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2019-10-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2019 IEEE-RAS 19th International Conference on Humanoid Robots (Humanoids)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/Humanoids43949.2019.9035061\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2019 IEEE-RAS 19th International Conference on Humanoid Robots (Humanoids)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/Humanoids43949.2019.9035061","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Introduction to New Adaptive Passive Joint Mechanism with Independent Joint Operation
This paper introduced a novel manipulator joint mechanism which has adaptive and independent joint motion properties with the passive joint configuration. Because the proposed manipulation mechanism has just one actuator to operate multiple joint (a passive joint mechanism), lighter manipulator systems can be configured with the proposed system. Adaptive joint property of the proposed mechanism makes reaction motion for the external wrench. Also, although the proposed novel mechanism has passive joints, it can moves each joint independently. We introduce the design concept and mechanism analysis. Then the validity and feasibility are verified with experiments.
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