Yaw Joint Research Articles

Returning Motion from the State of Falling Sideways for Articulated Mobile Robot

We developed an inchworm-type mobile robot. It consisted of only six segments connected by four pitch joints and one yaw joint. Although this robot had neither legs nor wheels, it was able to advance by using vertically undulatory motion of whole body. Even if it became upside down, it was able to move just like normal posture. But if it fell sideways, it was not able to move until returning to normal posture. In this study, we proposed a returning method by which the angular moment around roll axis was generated by twisting itself. To analyze this motion, we developed a mathematical model for this returning motion by considering the robot to be an underactuated mechanical system that consisted of a base frame and two link frames. We confirmed this returning motion was able to equate with a falling down motion of an underactuated two-linked system.

4828453 Modular multimorphic kinematic arm structure and pitch and yaw joint for same : H Le Martin, Daniel M Williams, W Eugen Holt assigned to The United States of America as represented by the United States Department of Energy

4828453 Modular multimorphic kinematic arm structure and pitch and yaw joint for same : H Le Martin, Daniel M Williams, W Eugen Holt assigned to The United States of America as represented by the United States Department of Energy

A Manipulator System Designed for Free-Flying Teleoperator Spacecraft

A preliminary design of a manipulator system, applicable to a Free-Flying Teleoperator Spececraft operating in conjunction with the Shuttle or Tug, is presented. The manipulator arm incorporates two 4-ft segments to the wrist with actuators located at the shoulder, elbow, and wrist. The wrist provides three degrees-of-freedom through pitch, yaw and continuous roll joints. An interchangeable end effector provides multiple task performance and satellite worksite versatility. A tip force of 10 1bs and a torque of 15 ft-1bs is provided. Man-in-the-loop simulations, using both unilateral and bilateral control techniques, were conducted. Based upon the simulation, a new, but relatively simple, control technique was proposed for the manipulator system.