Design Evolution of an Actuation System for Manipulator Upper Arm Based on TRIZ
Most of the existing service robots employ electric actuators with harmonic reducers to drive the upper arm joints. Due to the limited size of elbow joint and shoulder joint, such actuators need to be small. To match the capability of human arm, they also need to be powerful. Such requirements on th...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
The Japan Society of Mechanical Engineers
2012-01-01
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| Series: | Journal of Advanced Mechanical Design, Systems, and Manufacturing |
| Subjects: | |
| Online Access: | https://www.jstage.jst.go.jp/article/jamdsm/6/1/6_1_131/_pdf/-char/en |