Development of Active 3-DOF Rotational Ball Joint with Hollow Shaft Motors | Zendy

Yong Jian Yu | Zendy; Yoshitaka Narita | Zendy; Yoshinori Harada | Zendy; Toshimi Nakao | Zendy

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Development of Active 3-DOF Rotational Ball Joint with Hollow Shaft Motors

Author(s) -

Yong Jian Yu,

Yoshitaka Narita,

Yoshinori Harada,

Toshimi Nakao

Publication year - 2013

Publication title -

journal of robotics and mechatronics

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.257

H-Index - 19

eISSN - 1883-8049

pISSN - 0915-3942

DOI - 10.20965/jrm.2013.p0089

Subject(s) - ball (mathematics) , universal joint , mechanism (biology) , rotational speed , rotational dynamics , joint (building) , rotation (mathematics) , control theory (sociology) , physics , mechanical engineering , computer science , mechanics , engineering , classical mechanics , structural engineering , mathematics , geometry , artificial intelligence , control (management) , quantum mechanics , molecule

This paper develops an active 3-DOF rotational ball joint with a simple and compact mechanism where three hollow shaft motors are used. The ball joint realizes rotation around an omnidirectional rotational axis with good manipulability and changes its direction of rotational axis smoothly and freely when it is on rotating. The mechanical principle of this joint is proposed and analyzed, then the ball joint is developed with good dynamics and low friction, and experimental verification of the proposed mechanism is performed. The effectiveness of the mechanism principle is outlined by experimental results.

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