A Novel Mechanism for Implementing Multiple Collocated Spherical Joints
نویسندگان
چکیده
This paper presents the Spherical Joint Mechanism, a new mechanism for implementing multiple collocated spherical joints. The mechanism is designed to be strong, rigid, easy to build and have a large range of motion. Two different design concepts are presented and compared to other implementations of spherical joints previously proposed. Finally, implementation issues and potential applications of the Spherical Joint Mechanism are discussed.
منابع مشابه
Nonlinear Dynamics and Control of Crank-Slider Mechanism with Multiple Clearance Joints
In the current study, behavior of crank-slider mechanism with single and multiple clearance joints are analyzed. Using Lankarani-Nikravesh theory for estimating discontinuous contact forces in clearance joints, relevant systems have been mathematically modeled. Through numerical simulations, perturbations in response of mechanisms with clearance joints have been analyzed. Effects of increasing ...
متن کاملDynamic Behavior Analysis of a Planar Four-bar Linkage with Multiple Clearances Joint
In practice, clearances in the joints are inevitable due to tolerances, and defects arising from design and manufacturing. In the presence of clearance at a joint, a mechanism gains some additional, uncontrollable degrees of freedom which are the source of error. Moreover, joints undergo wear and backlashes and so cannot be used in precision mechanisms. In this study, the dynamic behaviour of ...
متن کاملAnalysis of Kinetic Chain Mechanism Affecting Energy Flow in Kick Topspin Tennis Serve in Elite and Amateur Tennis Players
Background. Effective kick-topspin serving in tennis requires power to transfer mechanical energy through a kinematic chain from different parts of the body that is directly related to the kinetics of the joints. Energy flow analysis is a powerful tool for observing the mechanical energy transfer through the body parts. Objectives. This research aimed to study the correlation and predictive ab...
متن کاملCombinatorial Algorithm for Determination of Topological Mobility of Floating Planar and Spherical Linkages
Structural mobility criteria, such as the well-known Chebychev-Kutzbach-Grübler (CKG) formula, give the correct topological mobility of a linkage (possibly of a certain class, e.g. planar, spherical, spatial) provided that it is not topologically overconstrained. As a matter of fact all known structural mobility criteria are prone to topological redundancies. In this paper a combinatorial algor...
متن کاملFlexible Foot/Ankle Based on PKM with Force/Torque Sensor for Humanoid Robot
This paper describes the development of a novel humanoid robot foot/ankle based on an orientation Parallel Kinematic Mechanism for intelligent and flexible control. With three identical Universal-Prismatic-Spherical prismatic-actuated limbs and a central Universal-Revolute passive limb, the PKM can perform three degrees of freedom rotation motions. In order to enable the humanoid robot safely t...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
عنوان ژورنال:
دوره شماره
صفحات -
تاریخ انتشار 2003