Design of novel generation of rigid revolute, cardan and ball joints

Faghih, Mohammad Hassan (2017) Design of novel generation of rigid revolute, cardan and ball joints. Masters thesis, Memorial University of Newfoundland.

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Abstract

The thesis is focused on the design and fabrication of different joints as part of a team member of three master’s students to design a parallel robot in the fishery. The general approach of how to design a parallel robot is presented. Then, the design and fabrication of a fully articulated snow crab as a model is given in order to use as a test model for the parallel robot. A new design of the revolute joint with a novel concept is presented in this work. The revolute joint with a conical shape uses two sleeves between the joint parts which are coated with Molybdenum Disulfide (MoS₂). The role of MoS₂ is to lubricate the inner parts of the revolute joint. A method for choosing the taper angle is presented based on the application. The authors fabricated the proposed new design at the machine shop of Memorial University and the joint proved to have successful functionality. Afterwards, the design and fabrication of the fork revolute joint, cardan joint (universal joint) and ball joint based on the design of the revolute joint is represented. Overall, the design of different joint types in this thesis is usable not only in the parallel robot but also in many mechanisms and applications.

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