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Design and Analysis of a Spherical Joint Mechanism for Robotic Manipulators

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Advances in Engineering Design (FLAME 2022)

Part of the book series: Lecture Notes in Mechanical Engineering ((LNME))

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Abstract

A spherical joint, also known as a ball-and-socket joint, allows three degrees of rotational freedom about the center of the joint between the two connected segments. Recent trends in the mechanical design of manipulators that have been targeted as essential and have the required reduction of moving masses have resulted in an increase in rigidity. By placing a spherical joint at the base of a manipulator, we can eliminate the number of links and joints (e.g., in the articulated manipulator, we can eliminate the twisting joint at the base and revolute joint at the shoulder) in the configuration of the manipulator by achieving a similar workspace. In the present study, an attempt was made to visualize a new spherical manipulator joint mechanism.

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Authors and Affiliations

  1. Department of Mechanical Engineering, Amity School of Engineering and Technology, Amity University, Noida, Uttar Pradesh, India

    B. L. S. Gopal & Rohit Singla

Authors
  1. B. L. S. Gopal
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  2. Rohit Singla
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Correspondence to Rohit Singla .

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Editors and Affiliations

  1. Department of Mechanical Engineering, Amity University, Noida, Uttar Pradesh, India

    Rohit Sharma

  2. Department of Mechanical Engineering, Amity University, Noida, Uttar Pradesh, India

    Ravindra Kannojiya

  3. Acoustics and Vibration Standards, CSIR-National Physical Laboratory, New Delhi, Delhi, India

    Naveen Garg

  4. Department of Mechanical Engineering, Indian Institute of Technology Guwahati, Guwahati, Assam, India

    Sachin S. Gautam

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Gopal, B.L.S., Singla, R. (2023). Design and Analysis of a Spherical Joint Mechanism for Robotic Manipulators. In: Sharma, R., Kannojiya, R., Garg, N., Gautam, S.S. (eds) Advances in Engineering Design. FLAME 2022. Lecture Notes in Mechanical Engineering. Springer, Singapore. https://doi.org/10.1007/978-981-99-3033-3_10

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  • DOI: https://doi.org/10.1007/978-981-99-3033-3_10

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  • Publisher Name: Springer, Singapore

  • Print ISBN: 978-981-99-3032-6

  • Online ISBN: 978-981-99-3033-3

  • eBook Packages: EngineeringEngineering (R0)

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