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Omni-Joint; Proof of Concept & Comparative Study

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Omni-Joint; Proof of Concept & Comparative Study American University in Cairo AUC Knowledge Fountain Theses and Dissertations 6-1-2019 Omni-joint; proof of concept & comparative Study AbdAllah Ezzat AboZaied Follow this and additional works at: https://fount.aucegypt.edu/etds Recommended Citation APA Citation AboZaied, A. (2019).Omni-joint; proof of concept & comparative Study [Master’s thesis, the American University in Cairo]. AUC Knowledge Fountain. https://fount.aucegypt.edu/etds/760 MLA Citation AboZaied, AbdAllah Ezzat. Omni-joint; proof of concept & comparative Study. 2019. American University in Cairo, Master's thesis. AUC Knowledge Fountain. https://fount.aucegypt.edu/etds/760 This Thesis is brought to you for free and open access by AUC Knowledge Fountain. It has been accepted for inclusion in Theses and Dissertations by an authorized administrator of AUC Knowledge Fountain. For more information, please contact [email protected]. The American University in Cairo School of Sciences and Engineering Omni-Joint: Proof of Concept, & Comparative Study By AbdAllah, Ezzat, AboZaied A thesis submitted in partial fulfillment of the requirements for the degree of Master of Science in Robotics, Control and Smart Systems (RCSS) Under supervision of: Dr. Mohamed Fawzy Aly Associate Professor, Department of Mechanical Engineering February, 2019 i ACKNOWLEDGMENTS ACKNOWLEDGMENTS I would like to thank; my Parents for supporting my ingenuity, my Wife for standing by my side during hard times, my Daughter for being the joy of my life, my friend Ayman for being there at the beginning working on the Omni-Joint, my closest friend Al-Moatasem for his devotion to help me whenever I need, Dr. Ahmed Hussien (ASU) for his advice that gave me a spark to move to my goal, Dr. Fouad Murad and Mrs. Viviane Zaccour for believing in me and my invention (Omni-Joint),, Dr. Maher Younan and Dr. Adel Elsabbagh (ASU) for giving me the chance to start my academic work, Dr. Maki Habib for encouraging a free choice of fields of research, and Dr. Mohamed Fawzy Aly for his supervision support and encouragement that I needed. ii ABSTRACT 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. iii TABLE OF CONTENTS ACKNOWLEDGMENTS -------------------------------------------------------------------------------------------------- ii ABSTRACT -------------------------------------------------------------------------------------------------------------------- iii LIST OF FIGURES ---------------------------------------------------------------------------------------------------------- vii LIST OF TABLES ------------------------------------------------------------------------------------------------------------ x NOMENCLATURE --------------------------------------------------------------------------------------------------------- xi 1 Chapter 1 Introduction ------------------------------------------------------------------------------------------------- 1 Terminology and Definitions: ---------------------------------------------------------------------------------- 5 2 Chapter 2 Literature Review ------------------------------------------------------------------------------------------ 7 2.1 Ball & Socket (3 DoF): ----------------------------------------------------------------------------------- 7 2.1.1 Drawbacks of ball & socket joint: ------------------------------------------------------------------------ 8 2.1.2 Advantages of the ball and socket joint: ---------------------------------------------------------------- 8 2.1.3 Applications: --------------------------------------------------------------------------------------------------- 8 2.2 Spherical Parallel Manipulator (3 DoF): ------------------------------------------------------------- 9 2.2.1 Drawbacks of the spherical parallel manipulator joint: --------------------------------------------- 9 2.2.2 Advantages of the spherical parallel manipulator joint: -------------------------------------------- 9 2.2.3 Applications: --------------------------------------------------------------------------------------------------- 9 2.3 Agile Joint (3 DoF): ------------------------------------------------------------------------------------ 10 2.3.1 Drawbacks of the agile joint: ---------------------------------------------------------------------------- 10 2.3.2 Advantages of the agile joint: --------------------------------------------------------------------------- 10 2.3.3 Applications: ------------------------------------------------------------------------------------------------- 10 2.3.4 Similarity between the Spherical Parallel Manipulator & Agile joint: ----------------------- 11 2.4 Coaxial Spherical Parallel Manipulator (3 DoF): ------------------------------------------------- 12 2.4.1 Drawbacks of the Coaxial Spherical Parallel Manipulator: ------------------------------------- 13 2.4.2 Advantages of the Coaxial Spherical Parallel Manipulator:------------------------------------- 13 2.4.3 Applications: ------------------------------------------------------------------------------------------------- 13 2.5 Canfield Joint (3 DoF): -------------------------------------------------------------------------------- 13 2.5.1 Drawbacks of the Canfield joint: ----------------------------------------------------------------------- 14 2.5.2 Advantages of the Canfield joint: ---------------------------------------------------------------------- 14 2.5.3 Applications: ------------------------------------------------------------------------------------------------- 14 2.6 Omni-Wrist III (2 DoF): ------------------------------------------------------------------------------- 14 2.6.1 Drawbacks of the Omni-Wrist III: --------------------------------------------------------------------- 15 2.6.2 Advantages of the Omni-Wrist III: -------------------------------------------------------------------- 15 2.6.3 Applications: ------------------------------------------------------------------------------------------------- 15 2.7 Omni-Joint (2 DoF) Alternate Configurations: ----------------------------------------------------- 15 2.7.1 Drawbacks of the Omni-Joint Alternate Configurations: ---------------------------------------- 16 2.7.2 Advantages of the Omni-Joint) Alternate Configurations: -------------------------------------- 16 2.7.3 Applications: ------------------------------------------------------------------------------------------------- 16 2.8 Scope of Research: -------------------------------------------------------------------------------------- 17 2.9 Objectives: ----------------------------------------------------------------------------------------------- 17 2.10 Added Value of the Thesis: ---------------------------------------------------------------------------- 18 iv 3 Chapter 3 Methodology, Conceptual Design, and Mathematical Modeling ------------------------ 20 3.1 Comparative Study of the Joints: --------------------------------------------------------------------- 20 3.2 Programing the Equations: ---------------------------------------------------------------------------- 20 3.3 Joint-space in Response to Range of field of motion: ---------------------------------------------- 20 3.4 Manufacturing: ------------------------------------------------------------------------------------------ 20 3.5 Stress Analysis Using FEM: --------------------------------------------------------------------------- 20 3.6 Ordinary Joint: ------------------------------------------------------------------------------------------ 21 3.6.1 Drawbacks of the Ordinary joint: ---------------------------------------------------------------------- 22 3.6.2 Advantages of the Ordinary joint: ---------------------------------------------------------------------- 23 3.6.3 Forward and inverse kinematics: ----------------------------------------------------------------------- 24 3.6.4 Applications: ------------------------------------------------------------------------------------------------- 25 3.7 Universal | Hooke’s Joint: ----------------------------------------------------------------------------- 26 3.7.1 Joint proportions to achieve deviation angle: ------------------------------------------------------- 26 3.7.2 Drawbacks of the Universal joint: --------------------------------------------------------------------- 30 3.7.3 Advantages of the Universal joint: --------------------------------------------------------------------- 36 3.7.4 Forward and inverse kinematics: ----------------------------------------------------------------------- 36 3.7.5 Applications: ------------------------------------------------------------------------------------------------- 39 3.8 Omni-Joint: ---------------------------------------------------------------------------------------------- 40 3.8.1 Configuration-I (Variable-Omni-Joint): --------------------------------------------------------------
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