JRM Vol.25 No.1 pp. 89-96
doi: 10.20965/jrm.2013.p0089


Development of Active 3-DOF Rotational Ball Joint with Hollow Shaft Motors

Yong Yu*, Yoshitaka Narita*, Yoshinori Harada**,
and Toshimi Nakao**

*Graduate School of Science and Engineering, Kagoshima University, 1-21-40 Korimoto, Kagoshima 890-0065, Japan

**Techno Xross Kyushu Corporation, Kirishima, 6-31 Kokubu-Uenohara Techno Park, Kirishima, Kagoshima 899-4317, Japan

February 13, 2012
May 10, 2012
February 20, 2013
three-DOF ball joint, active rotation joint, parallel mechanism, hollow shaft motor
This paper develops an active 3-DOF rotational ball joint with a simple and compact mechanism where three hollow shaft motors are used. The ball joint realizes rotation around an omnidirectional rotational axis with good manipulability and changes its direction of rotational axis smoothly and freely when it is on rotating. The mechanical principle of this joint is proposed and analyzed, then the ball joint is developed with good dynamics and low friction, and experimental verification of the proposed mechanism is performed. The effectiveness of the mechanism principle is outlined by experimental results.
Cite this article as:
Y. Yu, Y. Narita, Y. Harada, and T. Nakao, “Development of Active 3-DOF Rotational Ball Joint with Hollow Shaft Motors,” J. Robot. Mechatron., Vol.25 No.1, pp. 89-96, 2013.
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