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Design and Characterization of a Gearbox Joint for Manipulators

  • K. Ivanov
  • M. Ceccarelli
  • G. Yestemessova
  • Y. Nurgizat
  • G. Balbayev
Conference paper
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 73)

Abstract

The paper presents a gearbox joint with 2 DOF and possibility of use for manipulators. A kinematic scheme for a gearbox joint is designed with kinematic characterizations. A kinematic characterization of the mechanism is expressed as function of parameters of external torques and input speeds, after requirements for a gearbox joint are identified. A general scheme is considered for a manipulator design with gearbox joint and for interaction analysis of a gearbox joint with translational motion module of manipulators are considered.

Keywords

Gearing system Gearbox Manipulator Design 

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Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  • K. Ivanov
    • 1
  • M. Ceccarelli
    • 2
  • G. Yestemessova
    • 1
  • Y. Nurgizat
    • 1
  • G. Balbayev
    • 1
  1. 1.Almaty University of Power Engineering and TelecommunicationsAlmatyKazakhstan
  2. 2.University of Cassino and South LatiumCassinoItaly

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