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. To address these challenges, we propose the Prismatic-Bending
Transformable (PBT) Joint, a novel, scissors-inspired mechanism with
directional maintenance capability that provides bending, rotation, and
elongation/contraction within a single module. This design enables
transformable kinematic chains that are modular, reconfigurable, and scalable
for diverse tasks. We detail the mechanical design, optimization, kinematic and
dynamic modeling, and experimental validation of the PBT joint, demonstrating
its integration into foldable, modular robotic manipulators. The PBT joint
functions as a single stock keeping unit (SKU), enabling manipulators to be
constructed entirely from standardized PBT joints. It also serves as a modular
extension for existing systems, such as wrist modules, streamlining design,
deployment, transportation, and maintenance. Three joint sizes have been
developed and tested, showcasing enhanced dexterity, reachability, and
adaptability, particularly in confined and cluttered spaces. This work presents
a promising approach to robotic manipulator development, providing a compact
and versatile solution for operation in dynamic and constrained environments.
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