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Adjustable link twist angle coupling for reconfigurable manipulator

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Title Adjustable link twist angle coupling for reconfigurable manipulator
 
Creator Kushwaha, Ashwani Kumar
Singla, Ekta
Agrawal, Anupam
 
Subject Link twist angle
Revolute joint
Indexable coupling
Manipulator mounting
Modular and Re-configurable robots
 
Description 108-112
Mechanical designs of the robotic manipulators normally have revolute joints or prismatic joints exhibiting single degree
of freedom. The relative motion of the joints is exhibited by the sliding of the surfaces one over the each other in prismatic
joints. There is a need for keeping relative motions precise and backlash free. Robotic arms having modular construction
normally uses twist angle 0° or 90° using fixed angles. To perform robotic actions in variable environment adjustable angle
joints have issues like backlash and constraints of variability of twist angles. A coupling is designed and developed for link
twist joint which can have relative backlash free positioning at an angle multiple of 15 degrees as well as 7.5 degrees as
indexable joint which can be locked at desired location. Moreover, with slight adjustment with the pin it can also be
positioned as per desired angle having discrete as well as continuous angle variability other than the fixed angles 0° or 90°.
 
Date 2024-04-02T09:41:05Z
2024-04-02T09:41:05Z
2024-04
 
Type Article
 
Identifier 0975-1017 (Online); 0971-4588 (Print)
http://nopr.niscpr.res.in/handle/123456789/63669
https://doi.org/10.56042/ijems.v31i1.6128
 
Language en
 
Publisher NIScPR-CSIR,India
 
Source IJEMS Vol.31(1) February