Static analysis and design of revolute joint and antiparallelogram joint: a technical report

Vimalesh Muralidharan (1)

1 ECN - École Centrale de Nantes

This technical report details the derivation of the static models of two antagonistically actuated joints: revolute (R) joint and antiparallelogram (X) joint. The conditions for these joints to possess the specified wrench-feasible workspace with the prescribed stiffness are derived. Using these conditions as constraints, a strategy for the optimal design of these joints is proposed that with an objective of minimizing the forces required to move them.

Domaines: Sciences de l'ingénieur [physics]; Mécanique [physics.med-ph]; Génie mécanique [physics.class-ph]

Vimalesh Muralidharan. Static analysis and design of revolute joint and antiparallelogram joint: a technical report. [Research Report] LS2N; Ecole Centrale de Nantes (ECN). 2020. ⟨hal-02529157v2⟩