| Issue |
ITM Web Conf.
Volume 15, 2017
II International Conference of Computational Methods in Engineering Science (CMES’17)
|
|
|---|---|---|
| Article Number | 03008 | |
| Number of page(s) | 5 | |
| Section | Computer Simulations Of Processes And Phenomena | |
| DOI | https://doi.org/10.1051/itmconf/20171503008 | |
| Published online | 15 December 2017 | |
The modelling of two DOF joints controlled by elastic inner ties
Rzeszów University of Technology, Department of Computer and Control Engineering, ul. W. Pola 2, 35-959 Rzeszów, Poland
* Corresponding author: dominikozog@wp.pl
This paper considers the mathematical model of two types of joints that can be used to connect the arms of two robots. The first of them is a simple revolute joint with one degree of freedom and the second is a universal joint with two degrees of freedom. Each of them is controlled using elastic ties that run in the joints and are connected to the inside of the arm joints. This paper describes a study of kinematics, dynamics properties and Extended Denavit-Hartenberg Notation parameters mentioned joints.
© The Authors, published by EDP Sciences, 2017
This is an Open Access article distributed under the terms of the Creative Commons Attribution License 4.0, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (http://creativecommons.org/licenses/by/4.0/).
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