Details on the Design of a Lockable Spherical Joint for Robotic Applications

Palpacelli, Matteo-Claudio; Carbonari, Luca; Palmieri, Giacomo

doi:10.1007/s10846-015-0230-2

Cited by 23 publications

(16 citation statements)

References 23 publications

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“…(3) We drew a straight line as a foot trajectory with two landing points (obtained in step (2) as the starting point and the end point). (4) We took out some points of the fixed interval in the trajectory as the foot position, and the corresponding joint angle during the movement of the single leg was obtained from the foot position through kinematic inversion. (5) We solved the corresponding Jacobian matrix J.…”

Section: Static Posture Analysis Considering Energy Consumption Targementioning

confidence: 99%

“…• ; posture 4 had the same center of gravity height as posture 3; and postures 5 -9 were the static postures when the total weight of the joint output was minimum when the center of gravity height was 30 mm, 50 mm, 80 mm, 110 mm, and 140 mm, respectively. The experimental results are shown in Table 6 and Figure 14.…”

Section: Simulationsmentioning

confidence: 99%

“…Many scholars have conducted research on the energy consumption of robots with feet and reduced the energy consumption through a joint locking device; however, this device brings additional energy consumption and cumbersome mechanism problems [4][5][6]. Shibendu et al [7][8][9] used the Lagrangian-Eulerian dynamic equation to establish the robot's system and used the least-squares method to obtain the joint torque and optimize the trajectory; then, they analyzed the energy consumption under the robot's motion state.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Research on Low Energy Consumption Static Postures of Bionic Feet

Zhang

Gao

et al. 2019

Applied Sciences

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By studying the relation of the robot’s postures and its energy consumption, a static analysis-based method to obtain the low-energy postures of the robot is proposed. This method decreases the energy consumption and increases the battery life by adjusting the postures in the horizontal environment. The method takes the low-speed hexapod bionic robot as the research object. First, we obtain the output torque of each joint of the leg through static analysis and establish the energy consumption model of the robot. Considering the flexibility of the robot, we then introduce the performance index of the maximum step length and establish an equilibrium solution based on energy consumption and maximum step size. Finally, we derive the low-energy postures of the robot using MATLAB (MATLAB 2014a, The MathWorks, Natick, Massachusetts State, USA, 2014) simulations. An energy consumption experiment is carried out with a physical prototype to verify the validity of the method.

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Section: Static Posture Analysis Considering Energy Consumption Targementioning

confidence: 99%

Section: Simulationsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Research on Low Energy Consumption Static Postures of Bionic Feet

Zhang

Gao

et al. 2019

Applied Sciences

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“…Firstly, they focused on the Cylindrical-Prismatic-Universal three legged architecture (3-CPU): it allows the design of a reconfigurable tripod able to perform pure translational or pure rotational motions, depending on the orientation of the axes of the universal joints [20,21]. The switch between the two mobilities by means of a lockable joint was then faced in [22]. Notwithstanding the discussed metamorphic capabilities, the 3-CPU architecture also owns some intrinsic drawbacks.…”

Section: Introductionmentioning

confidence: 99%

Design of a Lockable Spherical Joint for a Reconfigurable 3-URU Parallel Platform

et al. 2018

Self Cite

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This article deals with the functional and preliminary design of a reconfigurable joint for robotic applications. Such mechanism is a key element for a class of lower mobility parallel manipulators, allowing a local reconfiguration of the kinematic chain that enables a change in platform’s mobility. The mechanism can be integrated in the kinematic structure of a 3-URU manipulator, which shall accordingly gain the ability to change mobility from pure translation to pure rotation. As a matter of fact, special kinematics conditions must be met for the accomplishment of this task. Such peculiar requirements are described and properly exploited for the design of an effective reconfigurable mechanism. A detailed description of the joint operational principle is provided, also showing how to design it when is physically located at the fixed base of the manipulator.

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“…As evidenced by the research society, lockable joints have been widely used in various parallel manipulators due to their multiple operation modes and extensive application prospects. [10][11][12][13] With the proposition of these lockable joints, the parallel manipulators can perform different topological arrangements conveniently. Inspired by the design of existing lockable joints, the authors proposed two types of lockable spherical joints (named as lockable spherical joint (LSJ)-I and LSJ-II in Figure 1).…”

Section: Introductionmentioning

confidence: 99%

Conceptual design and comparative stiffness analysis of an Exechon-like parallel kinematic machine with lockable spherical joints

Tang

Zhang

2017

International Journal of Advanced Robotic Systems

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This article proposes two types of lockable spherical joints which can perform three different motion patters by locking or unlocking corresponding rotational axes. Based on the proposed lockable spherical joints, a general reconfigurable limb structure with two passive joints is designed with which the conceptual designs of two types of Exechon-like parallel kinematic machines are completed. To evaluate the stiffness of the proposed Exechon-like parallel kinematic machines, an expanded kinetostatic model is established by including the compliances of all joints and limb structures. The prediction accuracy of the expanded stiffness model is validated by numerical simulations. The comparative stiffness analyses prove that the Exe-Variant parallel kinematic machine claims competitive rigidity performance to the Exechon parallel kinematic machine. The present work can provide useful information for further investigations on structural enhancement, rigidity improvement, and dynamic analyses of other Exechon-like parallel kinematic machines.

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Details on the Design of a Lockable Spherical Joint for Robotic Applications

Cited by 23 publications

References 23 publications

Research on Low Energy Consumption Static Postures of Bionic Feet

Research on Low Energy Consumption Static Postures of Bionic Feet

Design of a Lockable Spherical Joint for a Reconfigurable 3-URU Parallel Platform

Conceptual design and comparative stiffness analysis of an Exechon-like parallel kinematic machine with lockable spherical joints

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