Journal of the Korean Society for Precision Engineering (한국정밀공학회지)

Korean Society for Precision Engineering (한국정밀공학회)
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Design of a Modular Type Joint Mechanism for a Service Robot

서비스 로봇을 위한 모듈형 관절 메커니즘 설계

  • Received : 2010.09.10
  • Accepted : 2011.08.19
  • Published : 2011.11.01
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Abstract

Mechanisms of the robot system should be developed according to the task. In this study, we propose improving adaptability of the robot mechanism with the modularized joint mechanism. Adaptability is the measure of the system ability to cope with change or uncertainty. Modular type joint has been widely used in development of various robots including reconfigurable robots. To build robotic systems more flexibly and quickly with low costs of manufacturing and maintenance, we have designed a modular type joint with one degree of freedom for general purpose. This module is designed to be compact, light-weight and self-controlled. In this design, we consider the kinematics and dynamics properties of the modular type joint.

Keywords

References

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