Abstract:
Robots mainly consist of links and joints, hence studying different joints and coming up with new joints will contribute in advancing robots.
The methodology used in this thesis is; Proofing the concept of the Omni-Joint by theoretical analysis and manufacturing a prototype, comparing the following revolute joints; Omni-Joints, Hooke’s joint, and Ordinary joint. The comparison is regarding; points of singularity, range of field of motion, inverse kinematics and applying it on different paths using MATLAB, and finally studying the stresses on the Omni-Joint using FEM with CAD software AutoDesk-Inventor in different postures.
The results are that unlike the Ordinary-joint and the Hooke-joint the Omni-Joint has; no singularities, continues range of field of motion, simple one to one kinematics.
