Kavli Affiliate: Xiang Zhang
| First 5 Authors: Jianshu Zhou, Junda Huang, Boyuan Liang, Xiang Zhang, Xin Ma
| Summary:
Robotic manipulators, traditionally designed with classical joint-link
articulated structures, excel in industrial applications but face challenges in
human-centered and general-purpose tasks requiring greater dexterity and
adaptability. Addressing these limitations, we introduce the Prismatic-Bending
Transformable (PBT) Joint, a novel design inspired by the scissors mechanism,
enabling transformable kinematic chains. Each PBT joint module provides three
degrees of freedom-bending, rotation, and elongation/contraction-allowing
scalable and reconfigurable assemblies to form diverse kinematic configurations
tailored to specific tasks. This innovative design surpasses conventional
systems, delivering superior flexibility and performance across various
applications. We present the design, modeling, and experimental validation of
the PBT joint, demonstrating its integration into modular and foldable robotic
arms. The PBT joint functions as a single SKU, enabling manipulators to be
constructed entirely from standardized PBT joints without additional customized
components. It also serves as a modular extension for existing systems, such as
wrist modules, streamlining design, deployment, transportation, and
maintenance. Three sizes-large, medium, and small-have been developed and
integrated into robotic manipulators, highlighting their enhanced dexterity,
reachability, and adaptability for manipulation tasks. This work represents a
significant advancement in robotic design, offering scalable and efficient
solutions for dynamic and unstructured environments.
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