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Research of 3-DOF active rotational ball joint

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4 Author(s)
Yong Yu ; Dept. of Mech. Eng., Kagoshima Univ., Kagoshima, Japan ; Narita, Y. ; Harada, Y. ; Nakao, T.

This paper develops a 3-DOF active rotational ball joint with a simple and compact mechanism, which can realize a rotation around an any-direction rotational axis with a well manipulability and can change its direction of rotational axis smoothly and arbitrarily when it is on rotating. The mechanism principle of this joint is proposed and analyzed. Then the ball joint is developed with good dynamics and lower friction and experimental verification on the proposed mechanism is performed. The effectiveness of the mechanism principle is outlined by some experimental results.

Published in:
Intelligent Robots and Systems, 2009. IROS 2009. IEEE/RSJ International Conference on

Date of Conference: 10-15 Oct. 2009

Page(s):
5153 - 5158
E-ISBN :
978-1-4244-3804-4
Print ISBN:
978-1-4244-3803-7
INSPEC Accession Number:
11009743
Conference Location :
St. Louis, MO
Digital Object Identifier :
10.1109/IROS.2009.5354127
Product Type:
Conference Publications

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