Introduction to New Adaptive Passive Joint Mechanism with Independent Joint Operation

This paper introduced a novel manipulator joint mechanism which has adaptive and independent joint motion properties with the passive joint configuration. Because the proposed manipulation mechanism has just one actuator to operate multiple joint (a passive joint mechanism), lighter manipulator systems can be configured with the proposed system. Adaptive joint property of the proposed mechanism makes reaction motion for the external wrench. Also, although the proposed novel mechanism has passive joints, it can moves each joint independently. We introduce the design concept and mechanism analysis. Then the validity and feasibility are verified with experiments.