Design optimization of a cable-driven two-DOF flexible joint module

• المؤلف الرئيسي: Zhang, Zhao
• مؤلفون آخرون: Robotics Research Centre
• التنسيق: مقال
• اللغة: English
• منشور في: 2014
• الموضوعات: DRNTU::Engineering::Bioengineering
• الوصول للمادة أونلاين: https://hdl.handle.net/10356/106236; http://hdl.handle.net/10220/23967
• المؤسسة: Nanyang Technological University

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...