Even in cases of compliant joints and links, it is the task of the robot control to mitigate flexibility effects, rather than to make any use of them. In the design of human-friendly robotic systems it is however advantageous to use passively compliant actuators, which posses the prerequisites...
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Small in size, they can solve problems of space in the gear box and the wheel hub. The joints are light weight. Thanks to the eight ball patented technology from NTN in Europe, they limit the weight and consumption of vehicles, as well as CO2 emissions The joints are high performance. ...
Owing to the displacement of the links, several recovery controls have been developed for the endeffector to maintain its desired task position after the collision. The force attenuation property has been verified through collision simulations and experiments in that the capability of the proposed ...
A rolling contact joint is formed when two adjacent links roll without slip over each other. When the rolling profiles are circular, the joint can be physically realized by a pair of revolute joints coupled by gears or cables. In this paper, we investigate the forward and inverse kinematics ...
In this paper, by applying the optimal control method, path planning of the mobile flexible links/joints manipulator is investigated based on Pontryagin’s minimum principle. There are some aspects in this problem which make it so difficult and complex; the dynamic model contains the exceedingly no...
To swim. Nature's beings can use the same body parts to do a variety of things—like walk, jump and swim. Robots? Think about it. You generally see them do limited tasks with their mechanical designs and rigid links. That difference is narrowing thanks to those in robotics who are ...
(DOF) robotic maneuver systems in a simulated environment and circumventing the complexities associated with mathematical formulations. Additionally, SimMechanics offers valuable tools for analyzing the flexibility of joints and links, which can be challenging to achieve using traditional mathematical ...
This new open-loop approach, compared to the available open-loop approaches, has the advantages that do not require the values of the manipulator's parameters; such as mass or mass moment of inertia of links. Moreover, since this new identification approach is open-loop, it has the ...
and socket received in the spherical section capture opening, and each having a second end; a manipulable support pivotally coupled to the second end of each of the plurality of upper link members; and a tiltable and rotatable column structure supporting the manipulable support, wherein the til...