A compliant contact-aided revolute joint

A Compliant Measuring System for Revolute Joints with Clearance

This paper suggests a simple yet efficient experimental method to record the displacement of the shaft in a revolute joint with clearance. Two light and compliant cantilevers have been mounted on the rocker, each being instrumented with two strain gauges which can measure bending. These cantilevers are mounted in an orthogonal fashion, near the axis of the revolute joint, each touching the shaf...

Topology optimization for synthesis of contact-aided compliant mechanisms using regularized contact modeling

A topology optimization technique for systematically designing contact-aided compliant mechanisms (CCM) is presented in this paper. A CCM is a single piece elastic body that uses intermittent contacts in addition to elastic deformation to transmit force and motion. Contact interactions give rise to interesting nonlinear and nonsmooth behaviors even under the small deflection assumption made in ...

A Skew-Axis Design for a 4-Joint Revolute Wrist

A Prismatic-Revolute-Revolute Joint Hand for Grasping From Unmanned Aerial Vehicles and Other Minimally Constrained Vehicles

Here, we present the design, fabrication, and evaluation of a prismatic-revolute-revolute joint hand called the model B that we developed for grasping from ungrounded vehicles. This hand relies on a prismatic proximal joint followed by revolute distal joints in each finger and is actuated by a single motorand a tendon-based underactuated transmission. We evaluate this design’s grasping capabili...

Nonlinear dynamic analysis of a four-bar mechanism having revolute joint with clearance

In general, joints are assumed without clearance in the dynamic analysis of multi-body echanical systems. When joint clearance is considered, the mechanism obtains two uncontrollable degrees of freedom and hence the dynamic response considerably changes. The joints’ clearances are the main sources of vibrations and noise due to the impact of the coupling parts in the joints. Therefore, the syst...