2023
Design and Verification of Parallelogram Mechanism With Geared Unit Rolling Joints for Reliable Wiring
RA-L 2023
The structure of 1-DOF joints used in existing robots is generally a revolute or a prismatic joint. However, recently, attempts have been made to apply rolling joints to reduce the size and weight of surgical and humanoid robots. In this study, to take advantages of wire routing through robot joints