{"title":"带驱动致动器的紧凑二自由度关节设计","authors":"Lukáš Bláha","doi":"10.1109/ISCMI.2017.8279626","DOIUrl":null,"url":null,"abstract":"This paper deals with the design of a new compact 2 degree of freedom joint as a key part of a hyper-redundant robotic manipulator used for nondestructive inspections. The compactness is reached using a genuine belt driven actuator together with special architecture based on the principle of universal joint. The placement of belt and pulleys is analytically solved to ensure highest torque for given joint dimensions and adequate belt tension in the whole range of joint tilt angles. The problem with belt loosening is minimized.","PeriodicalId":119111,"journal":{"name":"2017 IEEE 4th International Conference on Soft Computing & Machine Intelligence (ISCMI)","volume":"24 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2017-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"3","resultStr":"{\"title\":\"Design of a compact 2-DOF joint with belt driven actuators\",\"authors\":\"Lukáš Bláha\",\"doi\":\"10.1109/ISCMI.2017.8279626\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"This paper deals with the design of a new compact 2 degree of freedom joint as a key part of a hyper-redundant robotic manipulator used for nondestructive inspections. The compactness is reached using a genuine belt driven actuator together with special architecture based on the principle of universal joint. The placement of belt and pulleys is analytically solved to ensure highest torque for given joint dimensions and adequate belt tension in the whole range of joint tilt angles. The problem with belt loosening is minimized.\",\"PeriodicalId\":119111,\"journal\":{\"name\":\"2017 IEEE 4th International Conference on Soft Computing & Machine Intelligence (ISCMI)\",\"volume\":\"24 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2017-11-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"3\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2017 IEEE 4th International Conference on Soft Computing & Machine Intelligence (ISCMI)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ISCMI.2017.8279626\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2017 IEEE 4th International Conference on Soft Computing & Machine Intelligence (ISCMI)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ISCMI.2017.8279626","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Design of a compact 2-DOF joint with belt driven actuators
This paper deals with the design of a new compact 2 degree of freedom joint as a key part of a hyper-redundant robotic manipulator used for nondestructive inspections. The compactness is reached using a genuine belt driven actuator together with special architecture based on the principle of universal joint. The placement of belt and pulleys is analytically solved to ensure highest torque for given joint dimensions and adequate belt tension in the whole range of joint tilt angles. The problem with belt loosening is minimized.