NASA Logo

NTRS

NTRS - NASA Technical Reports Server

Back to Results
Compliant Joints For RobotsCompliant joints devised to accommodate misalignments of tools and/or workpieces with respect to robotic manipulators. Has characteristics and appearance of both universal-joint and cable-spring-type flexible shaft coupling. Compliance derived from elastic properties of short pieces of cable. Compliance of joint determined by lengths, distances between, relative orientations, thickness of strands, number of strands, material, amount of pretwist, and number of short pieces of cable. Worm-drive mechanism used to adjust lengths to vary compliance as needed during operation.
Document ID
19900000237
Acquisition Source
Legacy CDMS
Document Type
Other - NASA Tech Brief
Authors
Kerley, James J., Jr.
(NASA Goddard Space Flight Center, Greenbelt, MD.)
Date Acquired
August 14, 2013
Publication Date
May 1, 1990
Publication Information
Publication: NASA Tech Briefs
Volume: 14
Issue: 5
ISSN: 0145-319X
Subject Category
Mechanics
Report/Patent Number
GSC-13127
Accession Number
90B10237
Distribution Limits
Public
Copyright
Work of the US Gov. Public Use Permitted.

Available Downloads

There are no available downloads for this record.
No Preview Available