1. Date of download: 12/29/2017
Copyright © ASME. All rights reserved.
From: Generation of Under-Actuated Manipulators With Nonholonomic Joints From Ordinary Manipulators
J. Mechanisms Robotics. 2009;2(1): doi: /
Figure Legend:
3D CAD model of one out of many different manufacturing schemes for the nS pair: (1) sphere, (2) roller (carried out through a roller bearing), (3) spherical bearing (there are three spherical bearings (only two are visible) that forbid the translation of the sphere), (4) preload adjust screw, and (5) parallelism adjust screws