Design and Vibration Suppression Control of a Modular Elastic Joint

In this paper, a novel mechatronic design philosophy is introduced to develop a compact modular rotary elastic joint for a humanoid manipulator. The designed elastic joint is mainly composed of a brushless direct current (DC) motor, harmonic reducer, customized torsional spring, and fail-safe brake....

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Detalles Bibliográficos
Autores principales: Liu, Hong, Cui, Shipeng, Liu, Yiwei, Ren, Yi, Sun, Yongjun
Formato: Online Artículo Texto
Lenguaje:English
Publicado: MDPI 2018
Materias:
Article
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC6022151/
https://www.ncbi.nlm.nih.gov/pubmed/29880763
http://dx.doi.org/10.3390/s18061869

Internet

https://www.ncbi.nlm.nih.gov/pmc/articles/PMC6022151/
https://www.ncbi.nlm.nih.gov/pubmed/29880763
http://dx.doi.org/10.3390/s18061869

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