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 |
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| 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 | |
| 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 |
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| Country/Territory | United States |
| City | St. Louis |
| Period | 14/08/22 → 17/08/22 |