Design and Characterization of a Gearbox Joint for Manipulators
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.
KeywordsGearing system Gearbox Manipulator Design
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