An active/passive joint for reconfiguration applications
Petuya Arcocha, Víctor
Riera Bernardo, Aitor
Urizar Arana, Mónica
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Recent Advances in Mechanisms, Transmissions and Applications. MeTrApp 2019. Mechanisms and Machine Science 79 : 133-140 (2020)
In this paper, an active/passive reconfigurable 2R joint is presented. Direct and inverse kinematic problems and the force transmission are considered. The advantages of the current design show its superiority with respect to previous designs. A prototype of the joint was built and tested, proving the viability of the concept. The proposed joint can be applied in reconfigurable manipulators, serial robot arm wrists, humanoid robot shoulder and waist, where 2R active joints are required.