论文信息 - The rigidity of the bi-articular robotic arm with a planetary gear

The rigidity of the bi-articular robotic arm with a planetary gear

This paper describes the motor drive system which is applied a planetary to the power distribution mechanism. This motor drive system can realize the function of Bi-articular muscles peculiar to an animal. The relation between the motor drive and force is considered. The rigidity of the arm tip with bi-articlar muscles is shown.

Yukio Saito | Atsushi Umemura | Toshimasa Haneyoshi

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