The Mechanical Design of a Parallel Actuated Joint for an Articulated Mobile Robot

Abstract

Abstract The suitability of the parallel planar actuator (PPA) to application in an articulated mobile robot is evaluated. Examination of several joint actuation schemes is presented along with the introduction of the PPA. The PPA has a high joint torque generating capacity and a distributed structure that leads to a light, stiff mechanism. A segment of an articulated mobile robot with the kinematic configuration of the PPA has been designed and fabricated. The design process is outlined and the major components are described. The mechanism is operational and meets major design criteria.