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ABENICS: Active Ball Joint Mechanism With Three-DoF Based on Spherical Gear Meshings
https://ieeexplore.ieee.org/document/9415699
https://news.ycombinator.com/item?id=41632469
https://news.ycombinator.com/item?id=34160356
Incredible engineering, graphics
https://www.youtube.com/watch?v=hhDdfiRCQS4
COMMENT: the video is worth a view. Applications: robotics ...
Home-made knockoff (again: amazing graphics 😯):
https://old.reddit.com/r/functionalprint/comments/12gsp8t/i_printed_my_own_version_of_abenics_a_prototype
https://blog.ty-porter.dev/3d%20printing/mechanical%20engineering/2023/04/09/3d-printed-abenics.html
#engineering #MechanicalEngineering #design #BallJoint #MeshGears #PlanetaryGear #DoF #robotics #ActiveJoint #DIY
This article presents an active ball joint mechanism (ABENICS) enhanced by interactions of spherical gears. The gear-based joint drives three rotational degrees of freedom (RDoF) without slippage. The capabilities were inspired by the unique interactions between two different innovative gears [the cross spherical gear (CS-gear) and monopole gear (MP-gear)] and the superimposition of those interactions by the CS-gear's quadrature spherical tooth structure. One MP-gear constrains two of the three RDoF of the CS-gear. The driving module which drives the MP-gear converts this “constraint” into a “drive” and drives the CS-gear with two RDoF. The CS-gear orthogonally superimposes the interactions caused by two MP-gears to achieve three RDoF driving forces. The principle was revealed by analyzing an equivalent linkage modeled on the mechanism of ABENICS. The linkage also led to the kinematics and torque equations. The theory and physical characteristics of ABENICS were verified in comprehensive and continuous positioning experiments on manufactured prototypes. The flexibility of the actuator placement was also verified in different configurations of the driving modules. The active ball joint, ABENICS can transmit high torque and reliable positioning in three RDoF without an orientation sensor, which applies to robot joints and orientation control mechanisms.
Funktioniert, aber zu labberig.
Die Sockets der Gelenke benötigen eine Festspannmutter. Wenn ich PLA unter Spannung bringe, wird es mit seiner Plastizität immer lockerer. Schon jetzt schnappen zwar die Kugeln gut ein, aber drehen sich zu locker.
Damit kann man die Figur nicht "formen".
Active Ball Joint Uses Spherical Gear
A common CAD operation is to take a 2D shape and extrude it into a 3D shape. But what happens if you take a gear and replicate it along a sphere and then rotate it and do it again? As you can see in the video below, you wind up with a porcupine-like ball that you can transfer power to at nearly any angle. There's a paper describing this spherical gear as part of an active ball joint mechanism and even if you aren't mechanically inclined, it is something to see.
The spherical gear -- technically a cross spherical gear -- is made from PEEK and doesn't look like it would be that difficult to fabricate. There's also a simpler version known as a monopole gear in the drive system that provides three degrees of freedom.
This looks like just the thing for your next robot arm project. The paper covers the kinematic equations you'd need, but doesn't offer 3D printed models. However, it does mention that the parts were SLA printed, so it is possible to create the system with 3D printed gears.
With the recent trend to merge robot arms with 3D printers, this could be timely. The last time we saw balls used in a robot arm, it wasn't quite for the same reason.
#3dprinterhacks #robotshacks #abenics #balljoint #crosssphericalgear #sphericalgear
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咬人貓
Victoria Stuart 🇨🇦 🏳️⚧️
Rabbit Cohen
Aljoscha Rittner (beandev)
hackaday unofficial
Lovely Illustrations