A novel concentric multilink spherical joint with parallel robotics applications

Author

Hamlin, Gregory J. ; Sanderson, A.C.

Author_Institution

Dept. of Electr. Comput. & Syst. Eng., Rensselaer Polytech. Inst., Troy, NY, USA

fYear

1994

fDate

8-13 May 1994

Firstpage

1267

Abstract

A new spherical joint mechanism which is well suited to parallel robotics is presented. The concentric multilink spherical (CMS) joint allows two or more struts to be connected together such that they rotate about a single point. This joint can replace the traditional ball or universal (Hooke) joints in Stewart platforms, variable geometry truss manipulators, and other parallel robots. The TETRA2 robot consists of five nodes and six actuated struts. It provides a range of motion of 1m×0.5m×0.5m and has lifted a payload of 10 kg at full lateral extension. Simulation of a 48 struct walking robot illustrates the use of CMS joints to design more complex structures. The simulation also demonstrates new algorithms for parallel robot control

Keywords

kinematics; mobile robots; position control; Stewart platforms; TETRA2 robot; concentric multilink spherical joint; parallel robot; spatial mechanism; variable geometry truss manipulators; walking robot; Application software; Collision mitigation; Computational geometry; Couplings; Fasteners; Hydraulic actuators; Kinematics; Legged locomotion; Manipulators; Parallel robots;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1994. Proceedings., 1994 IEEE International Conference on

Conference_Location

San Diego, CA

Print_ISBN

0-8186-5330-2

Type

conf

DOI

10.1109/ROBOT.1994.351313

Filename

351313