This paper presents the mechanical design and prototyping of a reconfigurable universal joint. An electronically actuated mechanical switch allows to change joint’s configuration so that two different universal pairs can be obtained. One of the two revolute axes rotates freely whereas the other is driven by a servomotor: its direction can be chosen by the user, providing two different mechanical arrangements. It can be demonstrated that the use of this reconfigurable joint in a specific parallel kinematic manipulator equipped with three identical legs allows to change the mobility of its moving platform. The design proposed in the current work has been driven by analytical analyses and multibody simulations. A finite element analysis demonstrates the effectiveness of the mechanical design.
Mechanical design and prototype of a reconfigurable actuated universal joint / Palpacelli, M. C.; Carbonari, L.; Palmieri, G.; Callegari, M.. - ELETTRONICO. - 9:(2019). (Intervento presentato al convegno ASME 2019 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC-CIE 2019 tenutosi a Anaheim, CA, USA nel August 18-21, 2019) [10.1115/DETC2019-97916].
Mechanical design and prototype of a reconfigurable actuated universal joint
Palpacelli M. C.
Investigation
;Carbonari L.Writing – Original Draft Preparation
;Palmieri G.Investigation
;Callegari M.Supervision
2019-01-01
Abstract
This paper presents the mechanical design and prototyping of a reconfigurable universal joint. An electronically actuated mechanical switch allows to change joint’s configuration so that two different universal pairs can be obtained. One of the two revolute axes rotates freely whereas the other is driven by a servomotor: its direction can be chosen by the user, providing two different mechanical arrangements. It can be demonstrated that the use of this reconfigurable joint in a specific parallel kinematic manipulator equipped with three identical legs allows to change the mobility of its moving platform. The design proposed in the current work has been driven by analytical analyses and multibody simulations. A finite element analysis demonstrates the effectiveness of the mechanical design.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
