This paper presents a novel passive redundant spherical joint with a very large range of motion. A kinematic model is first developed in order to provide a framework for the analysis. The principle of the redundant joint is then introduced. The proposed joint does not require any active component since the redundancy is passively handled using springs. A static model of the joint is developed in order to clearly demonstrate how all singularities or jamming configurations can be avoided. Two possible arrangements are presented, one using linear springs and one using a torsional spring. Finally, experimental prototypes are demonstrated that can attain a range of tilt angle of ±150 deg.
Passively Driven Redundant Spherical Joint With Very Large Range of Motion
Manuscript received October 18, 2016; final manuscript received January 12, 2017; published online March 23, 2017. Assoc. Editor: Raffaele Di Gregorio.
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Schreiber, L., and Gosselin, C. (March 23, 2017). "Passively Driven Redundant Spherical Joint With Very Large Range of Motion." ASME. J. Mechanisms Robotics. June 2017; 9(3): 031014. https://doi.org/10.1115/1.4035802
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