柔軟タイミングベルトを用いた２軸差動関節の開発

抄録

This paper proposes a two-axis differential joint mechanism using a flexible teethed belt is proposed, and the mechanism is designed and fabricated. Experiments were conducted to measure the angular velocity and torque of the proposed mechanism to demonstrate the remote drive performance of the mechanism. The experimental results showed that the transmission performance of torque was low, but the angular velocity was correctly transmitted.