Adjustable link twist angle coupling for re-configurable manipulator

Abstract

Mechanical designs of the robotic manipulators normally have revolute joints or prismatic joints exhibiting single degree of freedom. The relative motion of the joints is exhibited by the sliding of the surfaces one over the each other in prismatic joints. There is a need for keeping relative motions precise and backlash free. Robotic arms having modular construction normally uses twist angle 0° or 90° using fixed angles. To perform robotic actions in variable environment adjustable angle joints have issues like backlash and constraints of variability of twist angles. A coupling is designed and developed for link twist joint which can have relative backlash free positioning at an angle multiple of 15 degrees as well as 7.5 degrees as indexable joint which can be locked at desired location. Moreover, with slight adjustment with the pin it can also be positiond as per desired angle having discrete as well as continuous angle variability other than the fixed angles 0° or 90°.