Abstract
Robots have generally many degrees of freedom and require many actuators to actuate. Designers have often wondered if it would be possible to assign actuators not to each joint but for each desired motion appropriately, and in such cases, the differential mechanism has attracted attention. Furthermore, environmental adaptability can also be achieved by utilizing its characteristics as a multiport system. In this paper, some examples of the use of differential mechanisms in robot mechanisms are introduced, and their aims and achievements are discussed.
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Acknowledgment
This work was partially supported by JKA and its promotional funds from the KEIRIN RACE, and by JSPS Grants-in-Aid for Scientific Research (KAKENHI), Grant Numbers 20K04376, 17K06254, 23760213 and 20760157.
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Sugahara, Y. (2022). On the Drive System of Robots Using a Differential Mechanism. In: Khang, N.V., Hoang, N.Q., Ceccarelli, M. (eds) Advances in Asian Mechanism and Machine Science. ASIAN MMS 2021. Mechanisms and Machine Science, vol 113. Springer, Cham. https://doi.org/10.1007/978-3-030-91892-7_2
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DOI: https://doi.org/10.1007/978-3-030-91892-7_2
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