Abstract

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.

摘要

本文介绍了一种 2-DOF 主动可锁定关节的新设计，可应用于并行可重构机械手以及触觉设备等其他应用。详细考虑了所提出关节的正向和逆向运动学问题，并给出了输入曲柄的运动学特征。速度方程、雅可比行列式和关节的奇异位置被彻底考虑。利用性能指标分析了关节的工作空间。进行了准静态分析，提供了沿工作空间的输出力分布。在 Ansys Workbench 中进行了有限元仿真，以识别关节中负载最大的部分并验证其强度。使用 3D 打印制造的原型已经证明了该概念的功能。