A neutrally stable quasi-compliant spherical joint with a remote center of rotation

Dion Hogervorst; Giuseppe Radaelli; Just Herder

doi:10.1115/DETC2022-89903

A neutrally stable quasi-compliant spherical joint with a remote center of rotation

Dion Hogervorst, Giuseppe Radaelli, Just Herder

Research output: Chapter in Book/Conference proceedings/Edited volume › Conference contribution › Scientific › peer-review

1 Citation (Scopus)

Abstract

This paper presents the design of a compliant spherical joint which is neutrally stable in two DoF and has a remote center of rotation. Such a joint can be used, for example, as an exoskeleton’s shoulder joint. The foundation of this paper lies in previous work that has succeeded in designing a compliant spherical joint with a remote center of rotation, but without neutral stability. The existing joint is simulated and its energy properties are analysed. Thereafter it is adapted and optimized for an axi-symmetrical energy field. A spring is introduced to the joint and optimized such that the combined energy field of both spring and joint, is neutrally stable. Experimental verification of the simulation was achieved with a prototype for which a moment reduction of 83.69% was achieved through the addition of the spring.

Original language	English
Title of host publication	ASME 2022 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
Subtitle of host publication	46th Mechanisms and Robotics Conference (MR)
Publisher	The American Society of Mechanical Engineers (ASME)
Number of pages	11
Volume	7
ISBN (Electronic)	978-0-7918-8628-1
DOIs	https://doi.org/10.1115/DETC2022-89903
Publication status	Published - 2022
Event	ASME 2022 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC-CIE 2022 - St. Louis, United States Duration: 14 Aug 2022 → 17 Aug 2022

Conference

Conference	ASME 2022 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC-CIE 2022
Country/Territory	United States
City	St. Louis
Period	14/08/22 → 17/08/22

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10.1115/DETC2022-89903

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Hogervorst, D., Radaelli, G., & Herder, J. (2022). A neutrally stable quasi-compliant spherical joint with a remote center of rotation. In ASME 2022 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference : 46th Mechanisms and Robotics Conference (MR) (Vol. 7). Article V007T07A011 The American Society of Mechanical Engineers (ASME). https://doi.org/10.1115/DETC2022-89903

Hogervorst, Dion ; Radaelli, Giuseppe ; Herder, Just. / A neutrally stable quasi-compliant spherical joint with a remote center of rotation. ASME 2022 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference : 46th Mechanisms and Robotics Conference (MR). Vol. 7 The American Society of Mechanical Engineers (ASME), 2022.

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abstract = "This paper presents the design of a compliant spherical joint which is neutrally stable in two DoF and has a remote center of rotation. Such a joint can be used, for example, as an exoskeleton{\textquoteright}s shoulder joint. The foundation of this paper lies in previous work that has succeeded in designing a compliant spherical joint with a remote center of rotation, but without neutral stability. The existing joint is simulated and its energy properties are analysed. Thereafter it is adapted and optimized for an axi-symmetrical energy field. A spring is introduced to the joint and optimized such that the combined energy field of both spring and joint, is neutrally stable. Experimental verification of the simulation was achieved with a prototype for which a moment reduction of 83.69% was achieved through the addition of the spring.",

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Hogervorst, D, Radaelli, G & Herder, J 2022, A neutrally stable quasi-compliant spherical joint with a remote center of rotation. in ASME 2022 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference : 46th Mechanisms and Robotics Conference (MR). vol. 7, V007T07A011, The American Society of Mechanical Engineers (ASME), ASME 2022 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC-CIE 2022, St. Louis, United States, 14/08/22. https://doi.org/10.1115/DETC2022-89903

A neutrally stable quasi-compliant spherical joint with a remote center of rotation. / Hogervorst, Dion; Radaelli, Giuseppe ; Herder, Just.
ASME 2022 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference : 46th Mechanisms and Robotics Conference (MR). Vol. 7 The American Society of Mechanical Engineers (ASME), 2022. V007T07A011.

Research output: Chapter in Book/Conference proceedings/Edited volume › Conference contribution › Scientific › peer-review

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N2 - This paper presents the design of a compliant spherical joint which is neutrally stable in two DoF and has a remote center of rotation. Such a joint can be used, for example, as an exoskeleton’s shoulder joint. The foundation of this paper lies in previous work that has succeeded in designing a compliant spherical joint with a remote center of rotation, but without neutral stability. The existing joint is simulated and its energy properties are analysed. Thereafter it is adapted and optimized for an axi-symmetrical energy field. A spring is introduced to the joint and optimized such that the combined energy field of both spring and joint, is neutrally stable. Experimental verification of the simulation was achieved with a prototype for which a moment reduction of 83.69% was achieved through the addition of the spring.

AB - This paper presents the design of a compliant spherical joint which is neutrally stable in two DoF and has a remote center of rotation. Such a joint can be used, for example, as an exoskeleton’s shoulder joint. The foundation of this paper lies in previous work that has succeeded in designing a compliant spherical joint with a remote center of rotation, but without neutral stability. The existing joint is simulated and its energy properties are analysed. Thereafter it is adapted and optimized for an axi-symmetrical energy field. A spring is introduced to the joint and optimized such that the combined energy field of both spring and joint, is neutrally stable. Experimental verification of the simulation was achieved with a prototype for which a moment reduction of 83.69% was achieved through the addition of the spring.

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Hogervorst D, Radaelli G , Herder J. A neutrally stable quasi-compliant spherical joint with a remote center of rotation. In ASME 2022 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference : 46th Mechanisms and Robotics Conference (MR). Vol. 7. The American Society of Mechanical Engineers (ASME). 2022. V007T07A011 doi: 10.1115/DETC2022-89903

A neutrally stable quasi-compliant spherical joint with a remote center of rotation

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