Review of locking devices used in robotics
نویسندگان
چکیده
Locking devices are widely used in robotics, for instance to lock springs, joints or to reconfigure robots. This review paper classifies the locking devices currently described in literature and preforms a comparative study. Designers can therefore better determine which locking device best matches the needs of their application. The locking devices are divided into three main categories based on different locking principles: mechanical locking, friction-based locking and singularity locking. Different locking devices in each category can be passive or active. Based on an extensive literature survey, the paper summarizes the findings by comparing different locking devices on a set of properties of an ideal locking device.
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تاریخ انتشار 2015