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dc.contributor.authorHu, Jwu-Shengen_US
dc.contributor.authorWu, Cheng-Huaen_US
dc.contributor.authorTsai, Yi-Jengen_US
dc.contributor.authorKuo, Chung-Hsienen_US
dc.date.accessioned2019-04-03T06:35:36Z-
dc.date.available2019-04-03T06:35:36Z-
dc.date.issued2015-09-01en_US
dc.identifier.issn1687-8140en_US
dc.identifier.urihttp://dx.doi.org/10.1177/1687814015603668en_US
dc.identifier.urihttp://hdl.handle.net/11536/128294-
dc.description.abstractDesign of a new differential-velocity-type compliant joint with two motors is proposed for robotic manipulators. The speed/output torque of the differential-velocity-type joint is synthesized by controlling the differential speeds of a pair of actuators. Descriptions of the design concept, theoretical analysis, and the experiments are presented in this article. The experimental results showed that (1) the stiffness of the differential-velocity-type joint can be regulated by changing the speeds of both motors, (2) the differential-velocity-type joint actually reduced 7.9%-15.7% time compared with the single-drive joint when performing five cycles of reciprocation, and (3) a new design of delta-type robot with differential-velocity-type driving modules was developed for verification. The experimental results showed that the differential-velocity-type delta robot can perform flexible assembly operations within a 0.028-mm tolerance.en_US
dc.language.isoen_USen_US
dc.subjectCompliant jointen_US
dc.subjectroboten_US
dc.subjectdifferential velocityen_US
dc.titleStudy on the characteristics of a homemade differential-velocity-type compliant joint for robotic manipulatorsen_US
dc.typeArticleen_US
dc.identifier.doi10.1177/1687814015603668en_US
dc.identifier.journalADVANCES IN MECHANICAL ENGINEERINGen_US
dc.citation.volume7en_US
dc.citation.issue9en_US
dc.citation.spage0en_US
dc.citation.epage0en_US
dc.contributor.department電子工程學系及電子研究所zh_TW
dc.contributor.departmentDepartment of Electronics Engineering and Institute of Electronicsen_US
dc.identifier.wosnumberWOS:000362293200007en_US
dc.citation.woscount9en_US
Appears in Collections:Articles


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