Design and analysis of an active 2-DOF lockable joint

This article presents a new design of a 2-DOF active lockable joint, which can be applied in parallel reconfigurable manipulators as well as in other applications such as haptic devices. The direct and inverse kinematic problems of the proposed joint were considered in detail, and the kinematic feat...

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Bibliographic Details
Published in:Mechanics based design of structures and machines 2022-08, Vol.50 (8), p.2736-2759
Main Authors: Riabtsev, M., Petuya, V., Urízar, M., Macho, E.
Format: Article
Language:English
Subjects:
active joint
haptic device
Parallel manipulator
reconfigurable
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Summary:This article presents a new design of a 2-DOF active lockable joint, which can be applied in parallel reconfigurable manipulators as well as in other applications such as haptic devices. The direct and inverse kinematic problems of the proposed joint were considered in detail, and the kinematic features of the input cranks are presented. Velocity equations, Jacobians, and singular positions of the joint were thoroughly considered. The workspace of the joint was analyzed by utilizing performance indices. A quasi-static analysis was carried out, providing the output force distribution along the workspace. The finite element simulation was carried out in Ansys Workbench, in order to identify the most loaded parts of the joint and verify its strength. A prototype, manufactured using 3D printing, has proven the functionality of the concept. The prototype was used as a haptic device in order to control a five-bar flexible parallel manipulator, which was being developed by the CompMech research group.
ISSN:1539-7734
1539-7742
DOI:10.1080/15397734.2020.1784203