The Robotics Institute

Carnegie Mellon Robotics Institute

Copyright notice: This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. These works may not be reposted without the explicit permission of the copyright holder.

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",
}

The Robotics Institute

Menu