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Volume 32 Issue 12
Dec.  2006
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Journal of Beijing University of Aeronautics and Astronautics  > 2006  >  32(12): 1455-1458.
Deng Zhicheng, Wang Wei, Zong Guanghuaet al. Active spherical joint for modular reconfigurable mobile robot[J]. Journal of Beijing University of Aeronautics and Astronautics, 2006, 32(12): 1455-1458. (in Chinese)
Citation: Deng Zhicheng, Wang Wei, Zong Guanghuaet al. Active spherical joint for modular reconfigurable mobile robot[J]. Journal of Beijing University of Aeronautics and Astronautics, 2006, 32(12): 1455-1458. (in Chinese)
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Active spherical joint for modular reconfigurable mobile robot

  • School of Mechanical Engineering and Automation, Beijing University of Aeronautics and Astronautics, Beijing 100083, China

  • Received Date: 12 Dec 2005
  • Publish Date: 31 Dec 2006
    Abstract
  • The present reconfigurable robots have several shortcomings about workspace and output torque in the pose-adjusting mechanisms. Aiming at these problems, a novel active joint was developed, which took advantages of the parallel mechanism and the serial mechanism and had characteristics of high output torque and large workspace. The parallel part is able to pitch and yaw ±40° with 17.3 N·m output torque and the serial part can rotate 360° with 4.5 N·m output torque provided. The application of this mechanism to mobile robots will highly enrich the configurations of the robots, and consequently develop their adaptive abilities to environments. The kinematic and workspace analysis were showed. The drive torque of the joint was tested, and it′s functionalities experimentally using the robot—JL-I were verified.

     

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  • [1] Fukuda T, Nakagawa S. Dynamically reconfigurable robotic system Proc of the IEEE Conf on Robotics and Automation. Philadelphia:IEEE Robotics and Automation Society, 1988:1581-1586 [2] Brown H B, Weghe Jr J M V,Bereton C A,et al. Millibot trains for enhanced mobility[J]. IEEE/ASME Transactions on Mechatronics,2002,7(4):452-461 [3] 王田苗,邹丹,陈殿生. 可重构履带机器人的机构设计与控制方法实现 . 北京航空航天大学学报,2005,31(7):705-708 Wang Tianmiao,Zou Dan,Chen Diansheng. Mechanism design and control method of reconfigurable tracked robot[J]. Journal of Beijing University of Aeronautics and Astronautics,2005,31(7):705-708(in Chinese) [4] Osamu Mori,Toru Omata. Coupling of two 2-link robots with a passive joint for reconfigurable planar parallel robot Proc of the IEEE Conf on Robotics and Automation. Washington, DC:IEEE Robotics and Automation Society, 2002:4120-4125 [5] Gosselin C M,Hamel J F. The agile eye:a high-performance three-degree-of-freedom camera-orienting device Proc of the IEEE Conf on Robotics and Automation. Piscataway, NJ:IEEE Robotics and Automation Society, 1994:781-786
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