This paper investigates how the motion of a rotating body can be actuated by frame-located motors via homokinetic transmissions based on constant-velocity joints. The general functioning of such joints is surveyed and their application to the set forth problem is examined. It is shown that their incautious use may lead to unworkable designs, while some viable solutions, leading to innovative two- and three-degrees-of-freedom closed-chain wrists, are presented.
CARRICATO M. (2007). Homokinetic Transmission of Rotational Motion via Constant-Velocity Joints in Closed-Chain Wrists. s.l : s.n.
Homokinetic Transmission of Rotational Motion via Constant-Velocity Joints in Closed-Chain Wrists
CARRICATO, MARCO
2007
Abstract
This paper investigates how the motion of a rotating body can be actuated by frame-located motors via homokinetic transmissions based on constant-velocity joints. The general functioning of such joints is surveyed and their application to the set forth problem is examined. It is shown that their incautious use may lead to unworkable designs, while some viable solutions, leading to innovative two- and three-degrees-of-freedom closed-chain wrists, are presented.File in questo prodotto:
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