ui Karle (M2 (rote es re a Wy Ae ow ip en iN je | 26-2 Ho aly Ae stole - of -avt will } wit Devious Solutions With \ualicosblow “dd c W§suk to iw tivode. Ye olfleckeol poblew re ar a Wok2 Requirements ( voce espa aust ootuuuttt3A design for mechanism-driven joint ‘The design of the mechanism is carried out considering the need to transmit forse and movement froma servomotor to a platform through the antagonistic movement in two prismatic joints. A motor is used to transmit the movement and the necessary force, \Which allows the final output movement on the platform. The angular displacement of the motor will be converted to linear movements that allow the required output. The axis of the servomotor generates a torque, and the body in the lower par of the figure, r, produces a circular movement. This circular movement is transmitted through the links that perform a linear motion through the guide Si) and S}2, as ean be seen in Fig2 represented by yellow bodies, This allows, due to its kinematics and design. to transform the circular movement into a linear one through a prismatic joint through the frame of the mechanism that can be seen in gray. The servomotor is connected at two ends, which, when the circular movement is generated, results in performing antago~ nistic Hinear movements. Therefore, 1wo links with rotating joints are connected to the servomotor, whieh is connected to a C)) and ‘These links which generate these prismatic movements are connected t0 a link through a revolute joint, which is the connection between the Cs; body with Ly, and Ly links and the Cis body with Liz and Les links. The links Lyy and Lis are of different sizes, This is because it generates angles between the links that help the movement and force to be transmitted in a hotter way. as well as Links Ly and Ls The links Ly, and Ls are the same sizes, as are links Lys and Le Te angle 6), is generated between body Cy andl link Ly) in the same way, the angle isis generated between body C\sand link Ly, Angles ®:, and 8:2 are observed between Tinks Ly: and Ls), as well as between links Ly and L: The frame body of the mechanism is connected by a Tink to a red platform in the centre of it, by means of a revolute joint in point A, AX the ends of the platform in Ex ‘and Eis, they will connect each of the slide crank mechanisms. Therefore, when the cireular movement is generased, it will transmit the movement in the above-explained ‘vay, making the platform have a planar movement output and the angular displacement described by the angle @. At point H. the path that follows the platform will be taken, since, at this point, the next link ofan arm will be assembled. The Fig. 2. yematic scheme in ‘When analysing the scheme found, the number of degrees of freedom ofthe " ‘can be computed according, th W where mis the Degrees of Freedam (DoF) of mobility: nis the number ofthe links, and C1 isthe number of joints with | DoF. uly ts para pn how ¥4 2Fig. 2. A kinematic scheme of the mechanism joint aos, 4 (cad woe gi simulation modes Smale schem: i obtained with the requted characterises, a CAD mode tas ben meme nemstcally and dynamically so thatthe mechanism ith Ne desired ea rematicsimblaion f the mechanism was cared out using four operation "Tesi erga mode se ik nk on te (02, = 90 deg y 8» >PO dex): inthe second operation mode the slide crank links on both Sides are inside ( 0 deg Be: = 90 dee: In he third and fourth operation modes, Mchow iste CAD theo ole ?the slide erank links fo one slide crank connecting rod links are inside and the other is ‘outside (Bs) 90 dew y @s2 » 90 deg oF 82; 90 dex y Gs: < 90 deg), By simulating these different ways of using the mechanism, it was shown that by having the third and fourth modes. the links approached or passed through the point of singularity, In this scenario, the point of singularity occurs when the links Ly ~ Lx and Lis L In this scenario, the singularity point occurs when the links L11 = L21 and ( = L22 that connect at their ends with the platform reach that connects at their ends with the platform reach an angle of 180 deg with each other. Thus, the kinematic simulation showed that the first mode and the second mode can perform the required movements ‘without approaching the singularity point LF PS <<>> Fig, 3. Operation modes ofthe mechanism joint: a) Insice links: 8) Outside Links: ¢) ‘Outside-Inside links: d) Inside-Outside links Since it provides better performance of the mechanism, the modes of operation are analysed by choosing the first operation mode. The mechanism used with the first ‘operation mode in Fig. 4, faeiitates having a reduced workspace at the time of behaviour.Fig, 4 snapshot of the simulated operation as a function of the input angle: a) 15 dog: b) O dey: €) 15 dew 5 Results A multibody dynamic simulation was performed in SolidWorks environment to deter- ‘mine the range of motion that the mechanism ean achieve in its performance. The sim ‘lation was cartied out considering the analysis made with the previously chosen mode ‘of operation, Subsequently, the dynamic simulation was carried out 1o obtain results in terms of force transmission. Thus, the input for this simulation was the angular dis- placement of the motor, which was done for 5 seconds and went from 4S deg t0 0 de Input motor angular displacement in Fig Sa, The required torque was computed, the plot results in Fig. Sb.eA awuagtal »2 tld Sucuay te poh aainfuauodcal eur of Squif cam fadauee re,6 — Conclusions inns sin an Ayam srubon ner petted ing x CAtT oni, The Keane te mehr shows ta is chant can pene teed movers The dyna simulson shows forse obec i. 3A Fig. 6. The mechan mus be prove so tha ts beavour geal beer tae sion perforce, oth in force an aati ovement ho te yot pe ficou [1] S. Lessanibaahri, M. GouttefarderS. Caro, and P. Candou, Twist feasibility analysis. of cablesdriven_pariilel robots. Cable-Driven Parallel. Robots: Proceedings OT The Thind MEMaTIOTAT Conference on Cable-Driving Parallel Robots, Springer Nature Switzerland AG, Cham. pp. 28-139. 2018 « .B. Yigit and P. Boyraz, Design and Modelling of a Cable-Drivon Parallel SevesIlybrid Vsuble St fos Joint Meshanty for Rabaigy Neck, Soh vol 8,00. ly 27,2017 ae CL thors? MAUL [31M BingiaiCR at peng ad teins co exis lon sacs Ute oy east: Sas ear cale den acne Eh ‘aos MBP p29, (a) LTang 1. Wang. Zhong, G. Gu, Zhu and. Zu, Design ofa cable shvea td 96u woh aa lta Ah Ea Shrsvol Hh no. sepp. 1-12 2017 15) Telia 2 MalM Woe, Wan VL, A Cale Dien Read Sati Manipuuor with pve Sica add Capac IEEE Tn Canf el Rober Sy pO 004 018 References [6] K.-H. Cho er al, Biomimetic robotic joint mechanism driven by sof linear actuators, Proc. - IEEE Int. Conf Robot. Autom..pp. 1850-1855, 2017, [7] N.Nikafrooz, A. Leonessa. A single-actuated, cable-driven, and self-contained robotic hand designed for adaptive grasps. Roboties. MDPI vol. 10, no 4, p 109, 2021 [8] HLS. Jung eral, Musclelike joint mechanism driven by dielectric elastomer ‘actuator for robotic applications, Smart Mater. Siruct., vol. 27, no. 7. 2018, [9] M.Ceecarelli, D. Cafolla, J. Araque. Mechanism-driven joint patent pending no. 1T102022000007889, Italy, 104/202: [10] A. Titov, M- Russo, M, Coceareli, Design and Performance of L-CaPaMan2, Applied Sciences. 2022; 12(3):1380,