New Joint Design for Three-dimensional Hyper Redundant Robots

Elie A. Shammas, Alon Wolf, H. Benjamin Brown, and Howie Choset
Proceedings of the 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems. (IROS '03), October, 2003, pp. 3594 - 3599.


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Abstract
This paper presents a novel compact design for a two degrees of freedom (DOF) joint mechanism. The joint is optimized for compactness, strength and range of motion which makes it ideal for constructing spatial or three-dimensional hyper redundant robots. We also identify and classify various prior joint designs that led to the development of this new concept. Finally, we present the joint forward kinematics, and force and torque calculations to verify the joint's range of motion and mechanical advantage.

Notes
Associated Lab(s) / Group(s): Biorobotics
Associated Project(s): Snake Robot Design
Number of pages: 6

Text Reference
Elie A. Shammas, Alon Wolf, H. Benjamin Brown, and Howie Choset, "New Joint Design for Three-dimensional Hyper Redundant Robots," Proceedings of the 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems. (IROS '03), October, 2003, pp. 3594 - 3599.

BibTeX Reference
@inproceedings{Shammas_2003_4674,
   author = "Elie A Shammas and Alon Wolf and H. Benjamin Brown and Howie Choset",
   title = "New Joint Design for Three-dimensional Hyper Redundant Robots",
   booktitle = "Proceedings of the 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems. (IROS '03)",
   pages = "3594 - 3599",
   month = "October",
   year = "2003",
   volume = "4",
}