標題: | The controllable ball joint mechanism |
作者: | Tung, Yung Cheng Chieng, Wei-Hua Ho, ShrWai 機械工程學系 Department of Mechanical Engineering |
關鍵字: | bevel-gear mechanisms;universal joint;motion simulator |
公開日期: | 1-十二月-2006 |
摘要: | A controllable ball joint mechanism with three rotational degrees of freedom is proposed in this paper. The mechanism is composed of three bevel gears, one of which rotates with respect to a fixed frame and the others rotate with respect to individual floating frames. The output is the resultant motion of the differential motions by the motors that rotates the bevel gears at the fixed frame and the floating frames. The mechanism is capable of a large rotation, and the structure is potentially compact. The necessary inverse and forward kinematic analyses as well as the derivation of kinematic singularity are provided according to the kinematical equivalent structure described in this paper. |
URI: | http://dx.doi.org/10.1299/jsmec.49.1151 http://hdl.handle.net/11536/11503 |
ISSN: | 1344-7653 |
DOI: | 10.1299/jsmec.49.1151 |
期刊: | JSME INTERNATIONAL JOURNAL SERIES C-MECHANICAL SYSTEMS MACHINE ELEMENTS AND MANUFACTURING |
Volume: | 49 |
Issue: | 4 |
起始頁: | 1151 |
結束頁: | 1158 |
顯示於類別: | 期刊論文 |