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An active/passive joint for reconfiguration applications

dc.contributor.authorRiabtsev, Mykhailo ORCID
dc.contributor.authorPetuya Arcocha, Víctor ORCID
dc.contributor.authorRiera Bernardo, Aitor ORCID
dc.contributor.authorUrízar Arana, Mónica ORCID
dc.date.accessioned2020-01-22T11:52:12Z
dc.date.available2020-01-22T11:52:12Z
dc.date.issued2019-09-07
dc.identifier.citationRecent Advances in Mechanisms, Transmissions and Applications. MeTrApp 2019. Mechanisms and Machine Science 79 : 133-140 (2020)es_ES
dc.identifier.issn2211-0984
dc.identifier.urihttp://hdl.handle.net/10810/39088
dc.description.abstractIn 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.es_ES
dc.description.sponsorshipThe authors wish to acknowledge the financial support received from the Spanish Government through the Ministerio de Economía y Competitividad (Project DPI2015-67626-P (MINECO/FEDER, UE)) and the financial support given to the research group through the project with Ref. IT949-16, given by the Departamento de Educación, Política Lingüística y Cultura of the Regional Government of the Basque Country.es_ES
dc.language.isoenges_ES
dc.publisherSpringeres_ES
dc.relationinfo:eu-repo/grantAgreement/MINECO/DPI2015-67626-Pes_ES
dc.rightsinfo:eu-repo/semantics/openAccesses_ES
dc.subjectactive/passive jointes_ES
dc.subjectmanipulatores_ES
dc.subjectreconfigurablees_ES
dc.subjectprototypees_ES
dc.titleAn active/passive joint for reconfiguration applicationses_ES
dc.typeinfo:eu-repo/semantics/bookPartes_ES
dc.rights.holder© Springer Nature Singapore Pte Ltd. 2020es_ES
dc.relation.publisherversionhttps://link.springer.com/chapter/10.1007/978-981-15-0142-5_14es_ES
dc.identifier.doi10.1007/978-981-15-0142-5_14
dc.departamentoesIngeniería mecánicaes_ES
dc.departamentoeuIngeniaritza mekanikoaes_ES


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