AN INVERTED STRAIGHT LINE MECHANISM FOR AUGMENTING JOINT RANGE OF MOTION IN A HUMANOID ROBOT

@inproceedings{Knabe2014ANIS,
  title={AN INVERTED STRAIGHT LINE MECHANISM FOR AUGMENTING JOINT RANGE OF MOTION IN A HUMANOID ROBOT},
  author={Coleman Knabe},
  year={2014}
}
Many robotic joints powered by linear actuators suffer from a loss of torque towards the limits of the range of motion. This paper presents the design of a fully backdriveable, force controllable rotary actuator package employed on the Tactical Hazardous Operations Robot (THOR). The assembly pairs a ball screw-driven linear Series Elastic Actuator (SEA) with a planar straight line mechanism. The mechanism is a novel inversion of a Hoeken’s four-bar linkage, using the ball screw as a linear… CONTINUE READING
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