Design of a ball joint and rod with large swing angle for a parallel robot in which epoxy-type bond is used

Doohyung Kim, Koyu Abe, Takeshi Shitashimizu, Daisuke Sato, Masaru Uchiyama

    Research output: Contribution to journalArticlepeer-review

    3 Citations (Scopus)

    Abstract

    This paper proposes the design of a large swing angle ball joint for parallel mechanisms. Parallelly-actuated mechanisms have the disadvantage of having smaller workspace compared to the serial mechanisms. It is important to get a larger workspace in order to extend the application range. But the workspace of a parallel robot depends on the swing angle of the ball joints used in it. However, if the housing of the ball joint is milled close to the equator of the ball to achieve a large swing angle, the ball joint may leave the housing during motion. Here, we propose an experimental model of a ball joint using the epoxy bond, without using any special techniques to realize a comparatively cheaper and simpler ball joint with large swing angle. An experiment to verify its utilization and performance is conduct.

    Original languageEnglish
    Pages (from-to)3666-3672
    Number of pages7
    JournalNippon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
    Volume68
    Issue number12
    DOIs
    Publication statusPublished - 2002 Dec

    Keywords

    • 6-DOF Parallel Robot
    • Ball Joint
    • Epoxy Bond
    • Large Swing Angle
    • Workspace

    ASJC Scopus subject areas

    • Mechanics of Materials
    • Mechanical Engineering
    • Industrial and Manufacturing Engineering

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