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| Kinematic Research on Hinged Synchronous Universal Joint Applied for Snake-like Manipulator | |
| 作者姓名： | 王建滨 马培荪 吴海平 郝颖明 |
| 作者单位： | School of Mechanical Eng.，Shanghai Jiaoton Univ.，Shanghai 200030，School of Mechanical Eng.，Shanghai Jiaoton Univ.，Shanghai 200030，Aetna School of Management.，Shanghai Jiaotong Univ.，Shanghai 200030，Robotics Laboratory.，Chinese Academy of Sciences，Shenyang 110015 |
| 基金项目： | Robotics Laboratory，Chinese Academy of Sciences foundation(RL200105)，Shanghai Civic Department of Science，Technology(985511057) |
| 摘 要： | The structure and motion principle of a hinged synchronous universal joint (HSUJ) is introduced, also whose kinematics is theoretically analyzed. As a result, a few kinematic characters of the HSUJ are obtained, which establish the foundation of its application for snake-like manipulator. Making use of the HSUJ as actuating mechanism, the developed snake-like manipulator has the merits of small curve radius, fewer actuator, and small volume etc. |
Kinematic Research on Hinged Synchronous Universal Joint Applied for Snake-like Manipulator |
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| WANG Jian-bin,MA Pei-sun,WU Hai-ping,HAO Ying-ming.Kinematic Research on Hinged Synchronous Universal Joint Applied for Snake-like Manipulator[J].Journal of Donghua University,2002,19(4). | |
| Authors: | WANG Jian-bin MA Pei-sun WU Hai-ping HAO Ying-ming |
| Institution: | 1. School of Mechanical Eng., Shanghai Jiaotong Univ., Shanghai 200030 2. Aetna School of Management., Shanghai Jiaotong Univ., Shanghai 200030 3. Robotics Laboratory., Chinese Academy of Sciences, Shenyang 110015 |
| Abstract: | The structure and motion principle of a hinged synchronous universal joint (HSUJ) is introduced, also whose kinematics is theoretically analyzed. As a result, a few kinematic characters of the HSUJ are obtained, which establish the foundation of its application for snake-like manipulator. Making use of the HSUJ as actuating mechanism, the developed snake-like manipulator has the merits of small curve radius, fewer actuator, and small volume etc. |
| Keywords: | hyper redundant degree of freedom snake-like manipulator synchronous universal joint |
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