Design optimization of a cable-driven two-DOF flexible joint module
This paper focuses on the kinematics, kinetostatics and design optimization of a 2-DOF cable-driven flexible joint module. Based on the motion characteristics of the 2-DOF joint module, the concept of instantaneous screw axis in conjunction with the Product-Of-Exponentials (POE) formula is proposed...
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| Format: | Article |
| Language: | English |
| Published: |
2014
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| Subjects: | |
| Online Access: | https://hdl.handle.net/10356/106236 http://hdl.handle.net/10220/23967 |
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| Institution: | Nanyang Technological University |
| Language: | English |