Our robot traloc consists of five elements which are linked by joints. Therefore a strong and flexible joint mechanism is indispensable to move through the debris. In our focus project, we developed an innovative mechanism based on the principle of a cardan joint that is able to generate high forces and reaches a bending angle of up to 50 degrees between two elements. The two degrees of freedom are mechanically decoupled and each of them is steered independently by a motor. That is why each element includes two motors that transmit their force with a gear and two chain drive stages on the joint.

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