Profile Synthesis of Planar Rotational–Translational Variable Joints

Brian J. Slaboch; Philip A. Voglewede

doi:10.1115/1.4027700

Journal of Mechanisms and Robotics | Volume 6 | Issue 4 | research-article

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Research Papers

Profile Synthesis of Planar Rotational–Translational Variable Joints

Brian J. Slaboch and Philip A. Voglewede ¹

[+] Author and Article Information

Brian J. Slaboch

Department of Mechanical Engineering,
Marquette University,
Milwaukee, WI 53233
e-mail: Brian.Slaboch@marquette.edu

Philip A. Voglewede

Department of Mechanical Engineering,
Marquette University,
Milwaukee, WI 53233
e-mail: Philip.Voglewede@marquette.edu

Nominal refers to the general shape of a joint, but not necessarily the final shape given that it may need to be modified to account for clearance or friction.

Note that R_uP_v variable joints are kinematically equivalent to P_vR_u variable joints.

Tolerances are ignored because there has been much work done by Sacks and Joskowicz [12] on the tolerance analysis of higher pairs. The focus of this work is purely on the kinematic analysis.

The profile of link 2 is considered to be a set of points as opposed to the lines and arcs that define link 1. It should also be noted that the points are rigidly connected to form the joint profile.

ϒ₁ is not placed in the table because it is used for every joint.

¹Corresponding author.

²The term “reconfigurable mechanism” should not be confused with self-reconfigurable robots which are not the focus of this work.

Contributed by the Mechanisms and Robotics Committee of ASME for publication in the JOURNAL OF MECHANISMS AND ROBOTICS. Manuscript received August 22, 2012; final manuscript received January 14, 2014; published online July 2, 2014. Assoc. Editor: Jian S. Dai.

J. Mechanisms Robotics 6(4), 041012 (Jul 02, 2014) (9 pages) Paper No: JMR-12-1124; doi: 10.1115/1.4027700 History: Received August 22, 2012; Revised January 14, 2014

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Abstract

This paper presents an approach to the profile synthesis of planar, variable joints by combining higher variable joints. The possible permutations of planar, variable joints that change from a rotational to translational motion will be enumerated. A method will be provided to determine the profiles of variable joints, and a practical example will be presented to illustrate the proposed method.

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Fig. 1

Rotational to translational variable joint

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Fig. 2

(a) General profile of a joint. (b) The profiles of link 1 and link 2 constrain the motion of link 1 relative to link 2.

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Fig. 3

Higher variable joints

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Fig. 4

Different cases for revolute higher variable joints

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Fig. 5

R₁P₁ variable joint

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Fig. 8

General joint profile

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Fig. 7

Configuration space for a R_uP_v variable joint

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Fig. 6

R₁R₂R₃ variable joint

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Fig. 16

R₃P₂ variable joint

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Fig. 17

R₃P₂ adjustable plier design

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Fig. 9

A change of δ₁ in the radial direction

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Fig. 10

The R_uP_v variable joints

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Fig. 18

Adjustable plier designs

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Fig. 19

Knipex R₂ adjustable plier design

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Fig. 20

Craftsman R₁ adjustable plier design

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Fig. 11

Design configuration space representation of adjustable pliers

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Fig. 15

R₁P₂ adjustable plier design

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Fig. 12

The R₁P₂ variable joint for adjustable pliers

The R1P2 variable joint for adjustable pliers

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Fig. 13

Different configurations of the R₁P₂ variable joint

Different configurations of the R1P2 variable joint

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Fig. 14

Design configuration space representation of adjustable pliers

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Slaboch BJ, Voglewede PA. Profile Synthesis of Planar Rotational–Translational Variable Joints. ASME. J. Mechanisms Robotics. 2014;6(4):041012-041012-9. doi:10.1115/1.4027700.

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Profile Synthesis of Planar Rotational–Translational Variable Joints

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