An actively constrained two degree-of-freedom manipulator for passive deployment applications
A two degree-of-freedom manipulator using actively constrained revolute joints is presented in this paper. Each revolute joint drive mechanism consists of two motor-driven worms coupled to a single worm wheel. A mathematical model of the manipulator system is used in order to develop a computed-torq...
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Main Authors: | , |
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Format: | Default Article |
Published: |
2004
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Subjects: | |
Online Access: | https://hdl.handle.net/2134/5139 |
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