An Active/Passive Joint for Reconfiguration Applications

Riabtsev, Mykhailo; Petuya, V.; Riera, Aitor; Urízar, Mónica

doi:10.1007/978-981-15-0142-5_14

Cited by 1 publication

(2 citation statements)

References 10 publications

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“…The complete kinematic analysis, workspace characterization and finite element analysis (FEA) of the active 2R spherical mechanism-based joint can be found in previous works [3,28]. The kinematic analysis and quasi-static analysis of the differential gearbased joint can be found in a previous study [29]. Subsequently, we indicate the main features and analyses of those previous works, in order to understand the functioning of the joints and hence to be able to follow the current developments.…”

Section: Reconfigurable Joint Designsmentioning

confidence: 95%

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Design and Testing of Two Haptic Devices Based on Reconfigurable 2R Joints

et al. 2021

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This paper presents the design and testing of two haptic devices, based on reconfigurable 2R joints: an active 2R spherical mechanism-based joint and a differential gear-based joint. Based on our previous works, in which the design and kinematic analysis of both reconfigurable joints were developed, the experimental setup and the various tasks intended to test the reconfigurability, precision, force feedback system and general performance, are presented herein. Two control modes for the haptic device operation are proposed and studied. The statistical analysis tools and their selection principles are described. The mechanical design of two experimental setups and the main elements are considered in detail. The Robot Operating System nodes and the topics that are used in the software component of the experimental setup are presented and explained. The experimental testing was carried out with a number of participants and the corresponding results were analyzed with the selected statistical tools. A detailed interpretation and discussion on of the results is provided.

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Section: Reconfigurable Joint Designsmentioning

confidence: 95%

“…The main advantage of this joint is that this joint is free from singular positions; however, it also requires two blue actuators (4 in Figure 1b) in order to compensate for the clearance in the bevel gears by creating pre-tension. Again, more information about this design can be found in [29].…”

Section: Reconfigurable Joint Designsmentioning

confidence: 99%