WO2012007014A1 - Joint - Google Patents

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Publication number
WO2012007014A1
WO2012007014A1 PCT/EG2010/000037 EG2010000037W WO2012007014A1 WO 2012007014 A1 WO2012007014 A1 WO 2012007014A1 EG 2010000037 W EG2010000037 W EG 2010000037W WO 2012007014 A1 WO2012007014 A1 WO 2012007014A1
Authority
WO
WIPO (PCT)
Prior art keywords
axis
joint
base member
shell
moving member
Prior art date
Application number
PCT/EG2010/000037
Other languages
English (en)
Inventor
Abdallah Ezzat Abdallah Abozaied
Ayman Mahmoud Mohamed Elsaeid
Original Assignee
Abdallah Ezzat Abdallah Abozaied
Ayman Mahmoud Mohamed Elsaeid
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Abdallah Ezzat Abdallah Abozaied, Ayman Mahmoud Mohamed Elsaeid filed Critical Abdallah Ezzat Abdallah Abozaied
Publication of WO2012007014A1 publication Critical patent/WO2012007014A1/fr

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • B25J17/0258—Two-dimensional joints
    • B25J17/0275—Universal joints, e.g. Hooke, Cardan, ball joints
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • B25J17/0258—Two-dimensional joints
    • B25J17/0266—Two-dimensional joints comprising more than two actuating or connecting rods
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D3/00—Yielding couplings, i.e. with means permitting movement between the connected parts during the drive
    • F16D3/02—Yielding couplings, i.e. with means permitting movement between the connected parts during the drive adapted to specific functions
    • F16D3/10—Couplings with means for varying the angular relationship of two coaxial shafts during motion
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D3/00—Yielding couplings, i.e. with means permitting movement between the connected parts during the drive
    • F16D3/16—Universal joints in which flexibility is produced by means of pivots or sliding or rolling connecting parts
    • F16D3/26—Hooke's joints or other joints with an equivalent intermediate member to which each coupling part is pivotally or slidably connected
    • F16D3/265—Hooke's joints or other joints with an equivalent intermediate member to which each coupling part is pivotally or slidably connected in which one coupling part has a tongue received with the intermediate member(s) in a recess with a transverse axis in the other coupling part
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D3/00—Yielding couplings, i.e. with means permitting movement between the connected parts during the drive
    • F16D3/16—Universal joints in which flexibility is produced by means of pivots or sliding or rolling connecting parts
    • F16D3/26—Hooke's joints or other joints with an equivalent intermediate member to which each coupling part is pivotally or slidably connected
    • F16D3/30—Hooke's joints or other joints with an equivalent intermediate member to which each coupling part is pivotally or slidably connected in which the coupling is specially adapted to constant velocity-ratio
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D3/00—Yielding couplings, i.e. with means permitting movement between the connected parts during the drive
    • F16D3/16—Universal joints in which flexibility is produced by means of pivots or sliding or rolling connecting parts
    • F16D3/26—Hooke's joints or other joints with an equivalent intermediate member to which each coupling part is pivotally or slidably connected
    • F16D3/38—Hooke's joints or other joints with an equivalent intermediate member to which each coupling part is pivotally or slidably connected with a single intermediate member with trunnions or bearings arranged on two axes perpendicular to one another

Definitions

  • the invention is in the field of mechanical mechanisms, specifically mechanisms simulating joints for robotic applications; it is a new mechanism (mechanical configuration) that acts as a 2 degrees of freedom joint suitable for robotic applications.
  • the mechanism can also be used as a constant angular velocity coupling capable of high deviation ⁇ inclination angles.
  • the axis of Dl is perpendicular to the axis of D2, and is aligned to the axis of LI.
  • the axis of D3 is perpendicular to the axis of D2, and is aligned to the axis of L2.
  • Mechanism K2 (shown in Fig.2) (Also known as Universal Joint, or Hooke's Joint)
  • K2 can be broken down to K2a, K2b, & K2c.
  • the 1st degree of freedom Dl is between K2a & K2b.
  • the 2nd degree of freedom D2 is between K2b & K2c.
  • the 3rd degree of freedom D3 is between K2c & L2.
  • the axis of Dl is perpendicular to the axis of D2 and LI, and intersects them at C.
  • the axis of D3 is perpendicular to the axis of D2, and is aligned to the axis of L2. • All axes of LI , L2, Dl , D2, and D3 intersect at a common point C which is also the center of rotation of the ball-joint simulated by this mechanism.
  • the axis of L where L is a mechanical partMink, then it is meant the axis lying along L for which the spatial position is of particular interest in the application. For simplicity it is commonly the axis about which the link is geometrically symmetrical in the longitudinal direction (ex: the central axis in a cylindrical link).
  • the coordinates system used to describe the spatial position of 2 nd link L2 relative to the 1 st link LI will be the spherical coordinates system.
  • the Z axis is aligned with the axis of LI , starting from point C and going in the same direction as in the figure.
  • ⁇ Axes X & Y are perpendicular to the axis of LI , starting from point C and going in the same directions as in the figure.
  • ⁇ ⁇ is the inclination ⁇ deviation (or polar angle) it is measured from the zenith
  • Z axis direction or the axis of LI to the axis of L2 as shown in the figure.
  • the range is [0-180°].
  • ⁇ ⁇ is the azimuth (or azimuthal angle) and it is the angle measured from the
  • azimuth reference direction (X axis) to the orthogonal projection of the axis of L2 on the reference plane (X-Y plane).
  • the range is [0-360°[.
  • Deviation plane (P) is an angle measured in the deviation plane between the axes of the two links LI & L2. It is the angle rotated by link L2 axis from the position where it was aligned with LI axis (Z axis). The range is [0-180°].
  • Deviation plane (P) is an angle measured in the deviation plane between the axes of the two links LI & L2. It is the angle rotated by link L2 axis from the position where it was aligned with LI axis (Z axis). The range is [0-180°].
  • a plane passing in center point C and perpendicular to the deviation plane P. it also divides the supplementary angle of the deviation angle (180 - ⁇ ) equally. If the two links LI and L2 are aligned ( ⁇ 0) then the mirror plane M is the plane passing through C which is perpendicular to all possible deviation planes.
  • the two links LI and L2 are always symmetrical about plane M (hence the name mirror plane).
  • ⁇ is the deviation angle
  • ⁇ is the twist angle
  • a locking position is a position where the joint is locked and unable to rotate in certain directions. In this position the joint has no complete freedom to rotate in any direction but is constrained to rotate in certain directions (some directions are locked for rotation). This can render some trajectories undoable by the joint or requiring special treatment.
  • the real reason why a position in the joint workspace becomes a locking position is because at this position the effect of one of the degrees of freedom of the joint becomes permutated. It doesn't contribute to the motion as it did before, but contributes by a totally different way (ex: changing twist instead of changing spatial position). A deeper understanding of the concept can be achieved later when viewing the problems of the prior art.
  • Locking delay is a side effect for the locking position problem in a joint.
  • the problem that a locking position makes a certain exact trajectory undoable can in certain cases be overcome by introducing a delay for the joint to adjust itself in a new position where it can follow the exact trajectory.
  • a mechanism is said to be backward drivable (compliant) if it complies with (reacts to) external forces other than the intended actuation inputs. This is sometimes desirable in robotic applications, because even when the mechanism is already actuated it shouldn't be destroyed by overwhelming external force. It is rather better for the mechanism to comply with this external force.
  • the destruction of the mechanism can be caused by the inability of its physical construction to execute the compliance movement, or by that the material can't handle both opposing forces (actuation inputs and external forces).
  • a joint having a locking position means that this joint is not backward drivable at this position, simply because some directions are not allowed for movement (due to its construction). Backward drivability loss can be considered a side effect for the locking position problem.
  • Self obstruction is a problem that appears when the physical structure of the joint limits its workspace (work envelope) due to mechanical parts colliding with each other. The joint obstructs itself in certain trajectories. The side effect of self obstruction is discontinuity in the joint workspace.
  • D3 undergoes obligatory change by only desired changes in Dl and D2, then D3 is not independent but said to be dependent on the first two degrees of freedom.
  • Dl and D2 are normally used to position the links in a certain spatial posture relative to each other (ex: moving L2 to a certain ⁇ & ⁇ relative to LI), and normally a third degree of freedom D3 will be used to control the twist angle ⁇ between the two links. If D3 is dependent on Dl & D2 then an undesired twist will occur when only positioning the links spatially relative to each other.
  • a joint suffering this dependency can't act as a constant angular velocity flexible coupling.
  • ⁇ Choose among several values for the degrees of freedom to reach the same point.
  • the joint can be used to operate in a part of its workspace where none of the problems occur, but this is a limitation of the joint capabilities.
  • Fig.5a L2 is required to move from point Z to point X, then to point Y on the path specified. After reaching point X as shown in Fig.5b it is impossible to reach point Y without first rotating Dl with 90°. (If it was required to keep the third degree of freedom D3 independent then it may rotate 90° in the opposite direction of rotation of Dl to maintain a zero twist angle between the links LI and L2 as shown in Fig.5c). Finally, D2 will rotate until L2 reaches point Y as shown in Fig.5d.
  • a side effect of the locking position is that the joint is not completely backward drivable at this position. This means that in a robotic application if a specific
  • the compensation can be done by making D3 rotate in the exact same manner and synchronized speed as Dl but in the opposite direction as shown in Fig.6b,
  • Link L2 is twisted relative to LI as a result of rotating Dl and D2 simultaneously from their initial positions without rotating D3.
  • This mechanism needs only to rotate Dl and D2 to change the position of L2 in space relative to LI (as shown in Fig.8a).
  • D3 is used to rotate L2 about its axis to achieve any desired twist.
  • D3 In order to compensate for the undesired twist in this mechanism, D3 must rotate in a complex relation and synchronized speed with Dl, and D2 as shown in Fig.8b. Another added difficulty.
  • L2 cannot rotate about the axis of LI while maintaining a constant deviation angle of 90° or more. This is due to the collision between K2a and K2c (collision zones are pointed out with arrows in the figure).
  • This discontinuity in the workspace of the joint at high deviation angles causes added difficulty in programming the joint, because if the joint will be used to operate at such deviation angles an algorithm should be added to detect which trajectory will cause self obstruction and either re-plan the trajectory or reject it.
  • LI can rotate easily about the axis of L2, if L2 is fixed. In this case D3 rotates, while Dl and D2 do not. Even so, a twist angle will always exist between LI and L2 which cannot be completely and permanently eliminated. Also position-reach redundancy will exist.
  • the universal joint (mechanism K2) has 2 locking positions which cause locking delays to overcome them, also cause backward drivability loss.
  • the Invention is a unique configuration based on a special mechanical structure and a concept of symmetry. It can be actuated to be used as a joint or can be used passively as a constant angular velocity flexible coupling. Where this configuration is installed between two mechanical links as a joint, the links can move from any point to another on any trajectory without any of the problems found on prior arts such as:
  • the following rotation matrix is the general rotation matrix between any two links rotating with two degrees of freedom relative to each other without any twist between them and thus it is the suitable rotation matrix for the invention.
  • Coordinate system 1 is fixed on LI, where its origin is center point C.
  • Matrix T converts points from coordinate system 2* to coordinate system 1 : ...Rotation matrix
  • base Bl may contain the pyramid-shaped component Rl, Rl may be replaced with the conical-shaped component Ol (as shown in Fig.1 lb).
  • a rotational degree of freedom (Dl-1) exists between the first arc Al -1 and base Bl about a spatially fixed axis relative to base Bl .
  • a rotational degree of freedom exists between the second arc A2-1 and base Bl about a spatially fixed axis relative to base Bl, the axis of D2-1 is perpendicular to that of Dl-1 and intersects it at a point C, which is the center of the simulated ball-joint.
  • base B2 may contain the pyramid-shaped component R2, R2 may be replaced with the conical-shaped component 02 (as shown in Fig. l ib).
  • a rotational degree of freedom exists between the first arc A 1-2 and base B2 about a spatially fixed axis relative base B2.
  • a rotational degree of freedom exists between the second arc A2-2 and base B2 about a spatially fixed axis relative to base B2, the axis of D2-2 is perpendicular to that of Dl-2 and intersects it at a point C.
  • H2 A rotational degree of freedom exists between arcs Al-1 and A 1-2.
  • the axis of H2 passes through the center point C.
  • a rotational degree of freedom exists between arcs A2-1 and A2-2.
  • the axis of HI passes through the center point C.
  • the axis of LI as specified is perpendicular to Dl-1 and D2-1 and intersects them at the center point C. It is also spatially fixed relative to base Bl .
  • Dl-2 As Dl-1 rotates, Dl-2 also rotates satisfying the mirror rule. This is a motion constraint between Dl-1 and Dl-2. This forms the degree of freedom Dl which axis is aligned with the axis of the hinge HI. This motion constraint can be realized by a simple mechanical mechanism.
  • D2-2 also rotates satisfying the mirror rule. This is a motion constraint between D2-1 and D2-2. This forms the degree of freedom D2 which axis is aligned with the axis of the hinge H2. This motion constraint can be realized by a simple mechanical mechanism.
  • D3 is the degree of freedom existing between L2* and L2, and it will be totally
  • D3 completely controls the angle of twist between LI and L2.
  • Link L2 has three degrees of freedom relative to LI.
  • the two degrees of freedom Dl and D2 which exist between LI and L2* will be totally responsible of positioning L2 in a certain spatial position relative to LI.
  • Configuration II is very similar to Configuration I, with few differences:
  • Mirror plane (M) contains the axis of D2. About that plane, base Bl is symmetric to base B2, Al-1 symmetric to A 1-2, and ultimately LI will be symmetric to L2*, satisfying the mirror rule.
  • Dl-2 As Dl-1 rotates, Dl-2 also rotates satisfying the mirror rule. This is a motion constraint between Dl-1 and Dl-2. This forms the degree of freedom Dl*, the axis of Dl* is perpendicular to the axis of D2, and lies in the mirror plane M. This motion constraint can be realized by a simple mechanical mechanism.
  • Arc-shaped component A2-1 is replaced with Arc-shaped component A3-1, and thus A2-1 is removed and its degree of freedom (D2-1) is removed as well.
  • Arc-shaped component A3-1 is connected to a new part called 1 st sub-base (B3).
  • a rotational degree of freedom exists between arc A3-1 and B3 about a spatially fixed axis relative to B3.
  • a rotational degree of freedom exists between B3 and Bl about an axis that passes by center point C, and is perpendicular to both the axes of Dl-1 and D3-1. This axis is also aligned with the axis of LI .
  • Arc-shaped component A2-2 is replaced with Arc-shaped component A3-2, and thus A2-2 is removed and its degree of freedom (D2-2) is removed as well.
  • Arc-shaped component A3-2 is connected to a new part called 2 nd sub-base (B4).
  • a rotational degree of freedom exists between arc A3 -2 and B4 about a spatially fixed axis relative to B4.
  • a rotational degree of freedom exists between B4 and B2 about an axis that passes by center point C, and is perpendicular to both the axes of Dl-2 and D3-2. This axis is also aligned with the axis of L2.
  • H3 A rotational degree of freedom exists between the arc A3-1 and the arc A3-2.
  • the axis of H3 passes through the center point C.
  • Configuration III can be considered as another form of configuration II where the axis of H3 is the same as Dl*.
  • D3-2 As D3-1 rotates, D3-2 also rotates satisfying the mirror rule. This is a motion constraint between D3-1 and D3-2. This forms the degree of freedom Dl*, the axis of Dl* is perpendicular to the axis of D2. This motion constraint can be realized by a simple mechanical mechanism.
  • any arc-shaped component and its pair such as: Al-1 & Al-2, A2-1 & A2-2, or A3-1 & A3-2, many methods can be used employing strings, gears, hydraulics, links ... etc.
  • a pair of links and a pair of sliding sleeves were employed to operate in a manner similar to the famous crank-shaft mechanism.
  • the links rotate and so the sleeves slide on a guiding rod. This sliding is used to duplicate the motion for the other arc with similar corresponding links.
  • the sliding sleeve has a flexible design that allows bending about the guiding rod, in this case the other pair of arcs can rotate independently (shown in Fig.l2g).
  • any of the following combinations is suitable for actuating the joint:
  • Configuration I Actuating A 1 - 1 & A2- 1 , or H 1 & H2.
  • the mechanism can be completely covered for protection from ambient effects, like dirt or water, or it can be covered to hold lubrication fluids.
  • This cover could be made of one elastic piece, as shown in Fig.13a, where one of the drawings shows a section view.
  • a rigid cover could be made of two sets of symmetric rigid shells. Each shell in a set has a corresponding similar peer shell in the opposite set. two designs are available:
  • each shell is formed of a conical surface & a spherical surface. All conical surfaces share their vertex which is center point C, also all spherical surfaces share this same center point (a drawing of a shell and its peer shell is presented in the figure).
  • the conical surfaces (in each half) lean on one another preventing any gaps to occur in the cover (between spherical surfaces), and the spherical surfaces (in each half) work as guides for the adjacent shells to slide on one another, this forms a shield which completely covers the mechanism.
  • the base of the joint should have a spherical surface (fixed to it) to prevent the shells from falling in extreme positions.
  • a simplified conceptual drawing of the cover is presented in the figure. Fig.13c shows how to assemble this cover parts in order.
  • each shell is formed of a conical surface & 2 spherical surfaces. All conical surfaces share their vertex which is center point C, also all spherical surfaces share this same center point (a drawing of a shell is presented in the figure).
  • the conical surfaces (in each half) lean on one another preventing any gaps to occur in the cover (between spherical surfaces), and the spherical surfaces (in each half) work as guides for the adjacent shells to slide on one another, this forms a shield which completely covers the
  • each shell has an inner spherical surface, and an outer spherical surface.
  • the inner spherical surface of a bigger shell and the inner spherical surface of an adjacent smaller shell prevent the smaller shell from falling inwards.
  • the outer spherical surface of a bigger shell and the outer spherical surface of an adjacent smaller shell prevent the smaller shell from falling outwards.
  • a simplified conceptual drawing of the cover is presented in the figure. Fig.l3e shows how to assemble this cover parts in order.
  • LI and L2 are mechanical links desired to be jointed
  • Kl is a mechanism of the prior art
  • Kla and Klb are the parts that form Kl
  • Dl is the degree of freedom between LI and Kla
  • D2 is the degree of freedom between Kla and Klb
  • D3 is the degree of freedom between Klb and L2.
  • LI and L2 are mechanical links desired to be jointed
  • K2 is a mechanism of the prior art
  • K2a, K2b, and K2c are the parts that form K2
  • Dl is the degree of freedom between K2a and K2b
  • D2 is the degree of freedom between K2b and K2c
  • D3 is the degree of freedom between K2c and L2.
  • LI and L2 are mechanical links desired to be jointed
  • C is the center of the joint
  • M is the mirror plane
  • P is the deviation plane
  • X, Y and Z are conventional Cartesian axes
  • XY and ZY are Cartesian planes
  • ⁇ and ⁇ are spherical coordinates of link L2 relative to LI.
  • Fig.4a Shows a zero deviation angle and a zero twist angle
  • LI and L2 are mechanical links desired to be jointed, C is the center of the joint.
  • Fig.4b Shows a zero deviation angle and a twist angle
  • LI and L2 are mechanical links desired to be jointed, C is the center of the joint, and ⁇ is the twist angle.
  • LI and L2 are mechanical links desired to be jointed, C is the center of the joint.
  • LI and L2 are mechanical links desired to be jointed, C is the center of the joint, and ⁇ is the twist angle.
  • Fig.5a Snaphot 1 in a sequence showing the locking delay drawback of mechanism Kl
  • LI and L2 are mechanical links
  • D2 is a degree of freedom of mechanism Kl
  • X, Y, and Z are points in space on a path for motion.
  • Dl and D3 are degrees of freedom of mechanism Kl.
  • X, Y, and Z are points in space on a path for motion.
  • D2 is a degree of freedom of mechanism Kl.
  • X, Y, and Z are points in space on a path for motion.
  • X, Y, and Z are points in space on a path for motion.
  • LI and L2 are mechanical links
  • Dl, D2, D3 are the degrees of freedom of mechanism Kl, as they are rotational degrees of freedom, the angles traveled by these degrees of freedom are written down, deviation angle ⁇ and twist angle ⁇ are shown as a result of the angles traveled by Dl & D2.
  • LI and L2 are mechanical links
  • Dl, D2, D3 are the degrees of freedom of mechanism Kl, as they are rotational degrees of freedom, the angles traveled by these degrees of freedom are written down
  • deviation angle ⁇ and twist angle ⁇ are shown as a result of the angles traveled by Dl, D2 & D3.
  • Fig.7 Shows the position reach redundancy problem in mechanism Kl
  • ⁇ and ⁇ are spherical angles defining a specific point to reach in the joint workspace
  • Dl & D2 are the degrees of freedom
  • the different sets of values for Dl & D2 that make the joint reach the same point are shown.
  • Fig.8a Shows the undesired twist drawback of mechanism K2 and the role of D1& D2
  • LI and L2 are mechanical links
  • Dl, D2, D3 are the degrees of freedom of mechanism K2, as they are rotational degrees of freedom, the angles traveled by these degrees of freedom are written down
  • deviation angle ⁇ and twist angle ⁇ are shown as a result of the angles traveled by Dl & D2.
  • Fig.8b (The undesired twist drawback of mechanism K2 and the role of Dl, D2, & D3)
  • LI and L2 are mechanical links
  • Dl, D2, D3 are the degrees of freedom of mechanism K2, as they are rotational degrees of freedom, the angles traveled by these degrees of freedom are written down
  • deviation angle ⁇ and twist angle ⁇ are shown as a result of the angles traveled by Dl, D2 & D3.
  • LI and L2 are mechanical links
  • K2a and K2c are parts of mechanism K2
  • Dl & D2 are degrees of freedom of 2
  • the arrows point out the collision zones.
  • LI and L2 are mechanical links
  • K2a and K2c are parts of mechanism K2
  • Dl, D2, and D3 are the degrees of freedom of K2
  • ⁇ is the twist angle.
  • Dl and D2 are the degrees of freedom of mechanism K2, the crossed-over path is an unallowable path in this position.
  • LI and L2 are mechanical links desired to be jointed
  • L2* is a transient link between LI and L2
  • Configuration I consists of: Base Bl & B2, pyramid-shaped components Rl & R2, Arc-shaped components Al-1, A2-1, A 1-2, & A2-2, where the degrees of freedom in Configuration I are Dl-1, D2-1, Dl-2, D2-2, & D3 and the two hinges HI & H2.
  • Bl & B2 are the base parts
  • Rl & R2 are the pyramid-shaped components
  • their alternatives are conical-shaped components 01 & 02
  • Al-1, A2-1, A 1-2, & A2-2 are the Arc-shaped components
  • the figure also shows the reason behind the names pyramid- shaped & conical-shaped, and the difference when using either of them.
  • Fig.llc Shows Configuration II of the invention
  • LI and L2 are mechanical links desired to be jointed
  • L2* is a transient link between LI and L2
  • Configuration II consists of: Base Bl & B2, pyramid-shaped components Rl & R2, Arc-shaped components Al-1 & A 1-2, where the degrees of freedom in Configuration II are D , Dl-2, & D3 and the hinge H2.
  • Configuration III consists of: Base Bl & B2, sub-bases B3 & B4, Arc-shaped components AM, A3-1, Al-2, & A3-2, and the cross part E, where the degrees of freedom in Configuration III are Dl-1, D3-1, Dl-2, D3- 2, and the two hinges HI & H3 ⁇ D1*.
  • Fig.12a Shows an actuation method using strings for the arc parts, that also applies the mirror rule
  • Base Bl & B2 and arc- shaped parts Al-1 and Al-2 are actuated using strings as shown in the figure, the pulley is used to drive the strings.
  • a zoom in view shows that at hinges like H2 the string passes through a hole and thus its path won't be affected even if the hinge bends.
  • each hydraulic actuator is fed with the outlet of the other.
  • Fig.l2c Shows a method for applying the mirror rule using hydraulic actuators in combination with strings
  • Base Bl & B2 are shown, as well as the arc- shaped parts Al-1 and Al-2, strings are used alongside the hydraulic actuators to achieve the symmetry, strings are fixed on pins on hinge H2.
  • Fig.12d Shows a hydraulic actuation method for the arc parts, to apply the mirror rule
  • Gl, G2 & G3 are bevel gears.
  • G2 and G3 are fixed to arcs Al-2 and Al-1 respectively and the axis of hinge H2 is aligned to their axes after assembly.
  • the axis of gear Gl is perpendicular to the plane containing HI & H2.
  • the figure shows the way to assemble 2 sets of gears to apply the mirror rule, it also shows a position where the axes of hinges HI and H2 are not perpendicular.
  • Fig.l2g Shows a method to apply the mirror rule and achieve symmetry using links and sliding sleeves
  • Fig.l3a Shows a cover to protect the joint made of elastic material like rubber
  • Fig.13b Shows a first design for a rigid cover for the joint
  • Fig.13d Shows a second design for a rigid cover for the joint
  • Fig.14a Shows a design with half the structure to save more space
  • Fig.14b Shows a design that allows material through the joint for power
  • This Mechanism could be used in any robotic or mechanical field, like industrial robotic arms (very suited for robotic wrists at the end effector side), manually operated or CNC machines, rotating a surveillance camera, the joints of limbed or moving robots weather bipedal humanoid robots or others, also in military applications like rotating and aiming a tank cannon or an airplane machinegun, it can be used in medical applications as well like artificial limbs, or power suits (exoskeletons).
  • the mechanism can be also used passively as a flexible constant angular velocity coupling with large deviation angles. This has a wide range of applications in automotive industries, and machines in general.
  • this invention is a new mechanical configuration(s); it is not exclusive for a specific application, so it is not possible to enumerate all its possible uses.
  • Fig.15 shows some visualization for different applications.

Abstract

L'invention concerne un joint mécanique pour relier deux arbres mécaniques (L1, L2). Le joint comprend un premier et un second élément de base (B1, B2) fixés au premier et au second arbre (L1, L2), un premier et un troisième élément en forme d'arc de cercle (A1-1, A2-1), qui peuvent coulisser dans le premier élément de base (B1), et un deuxième et un quatrième élément en forme d'arc de cercle (A1-2, A2-2), qui peuvent coulisser dans le second élément de base (B2). Les troisième et quatrième éléments mobiles (A2-1, A2-2) sont reliés l'un à l'autre par une première articulation (H1). Les premier et deuxième éléments mobiles (A1-1, A1-2) sont reliés l'un à l'autre par une seconde articulation (H2). Les axes des deux articulations (H1, H2) passent par le point central du joint et sont perpendiculaires l'un à l'autre. Ainsi on obtient un joint à déviation importante, sans auto-obstruction ni auto-blocage.
PCT/EG2010/000037 2010-07-13 2010-09-13 Joint WO2012007014A1 (fr)

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CN105563515A (zh) * 2016-03-24 2016-05-11 褚宏鹏 多支链耦合球面两自由度机器人关节
GB2538497A (en) * 2015-05-14 2016-11-23 Cambridge Medical Robotics Ltd Torque sensing in a surgical robotic wrist
TWI568942B (zh) * 2013-09-26 2017-02-01 崔文德 球座標轉向平行機構
WO2017030104A1 (fr) * 2015-08-19 2017-02-23 ライフロボティクス株式会社 Dispositif capot pour partie d'articulation rotative
EP3165784A1 (fr) * 2015-11-05 2017-05-10 Samsung Electronics Co., Ltd. Module de transmission d'énergie et appareil d'assistance au mouvement comprenant celui-ci
TWI623345B (zh) * 2016-01-15 2018-05-11 崔文德 弧桿組合機構
CN110039570A (zh) * 2019-05-14 2019-07-23 南京林业大学 一种复合球铰链
CN112664550A (zh) * 2020-12-14 2021-04-16 哈尔滨工业大学（威海） 一种基于虹膜机构夹紧的锁定变胞球铰
CN112720563A (zh) * 2019-10-14 2021-04-30 河南森源电气股份有限公司 机械关节及其驱动装置
CN113722864A (zh) * 2021-09-13 2021-11-30 哈工大机器人（合肥）国际创新研究院 一种7自由度冗余机械臂逆运动学求解方法及系统
US11224488B2 (en) 2014-03-07 2022-01-18 Cmr Surgical Limited Surgical arm
CN110039570B (zh) * 2019-05-14 2024-04-19 南京林业大学 一种复合球铰链

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Cited By (21)

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TWI568942B (zh) * 2013-09-26 2017-02-01 崔文德 球座標轉向平行機構
US11224488B2 (en) 2014-03-07 2022-01-18 Cmr Surgical Limited Surgical arm
GB2538497B (en) * 2015-05-14 2020-10-28 Cmr Surgical Ltd Torque sensing in a surgical robotic wrist
GB2538497A (en) * 2015-05-14 2016-11-23 Cambridge Medical Robotics Ltd Torque sensing in a surgical robotic wrist
US11903668B2 (en) 2015-05-14 2024-02-20 Cmr Surgical Limited Torque sensing in a surgical robotic wrist
US11291516B2 (en) 2015-05-14 2022-04-05 Cmr Surgical Limited Torque sensing in a surgical robotic wrist
US10206752B2 (en) 2015-05-14 2019-02-19 Cmr Surgical Limited Torque sensing in a surgical robotic wrist
WO2017030104A1 (fr) * 2015-08-19 2017-02-23 ライフロボティクス株式会社 Dispositif capot pour partie d'articulation rotative
CN106667726A (zh) * 2015-11-05 2017-05-17 三星电子株式会社 力传输装置和包括该力传输装置的运动辅助设备
US10828224B2 (en) 2015-11-05 2020-11-10 Samsung Electronics Co., Ltd. Power transmitting device and motion assistance apparatus including the same
EP3165784A1 (fr) * 2015-11-05 2017-05-10 Samsung Electronics Co., Ltd. Module de transmission d'énergie et appareil d'assistance au mouvement comprenant celui-ci
TWI623345B (zh) * 2016-01-15 2018-05-11 崔文德 弧桿組合機構
CN105563515A (zh) * 2016-03-24 2016-05-11 褚宏鹏 多支链耦合球面两自由度机器人关节
CN110039570A (zh) * 2019-05-14 2019-07-23 南京林业大学 一种复合球铰链
CN110039570B (zh) * 2019-05-14 2024-04-19 南京林业大学 一种复合球铰链
CN112720563A (zh) * 2019-10-14 2021-04-30 河南森源电气股份有限公司 机械关节及其驱动装置
CN112720563B (zh) * 2019-10-14 2022-07-26 河南森源电气股份有限公司 机械关节及其驱动装置
CN112664550A (zh) * 2020-12-14 2021-04-16 哈尔滨工业大学（威海） 一种基于虹膜机构夹紧的锁定变胞球铰
CN112664550B (zh) * 2020-12-14 2022-06-07 哈尔滨工业大学（威海） 一种基于虹膜机构夹紧的锁定变胞球铰
CN113722864A (zh) * 2021-09-13 2021-11-30 哈工大机器人（合肥）国际创新研究院 一种7自由度冗余机械臂逆运动学求解方法及系统
CN113722864B (zh) * 2021-09-13 2023-09-05 哈工大机器人（合肥）国际创新研究院 一种7自由度冗余机械臂逆运动学求解方法及系统

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