Prismatic-Bending Transformable (PBT) Joint for a Modular, Foldable Manipulator with Enhanced Reachability and Dexterity
🤖 AI Summary
Traditional robotic manipulators exhibit limited flexibility and adaptability in human-centered and general-purpose tasks. To address this, we propose a novel Prismatic-Bending-Twisting (PBT) joint inspired by scissor mechanisms, integrating three degrees of freedom—prismatic extension, bending, and twisting—within a rigid–soft coupled architecture. This design enables single-SKU standardization and supports cross-scale (large/medium/small) modular assembly and on-the-fly robotic reconfiguration. Through comprehensive multi-DOF kinematic modeling and experimental validation, the resulting foldable manipulator achieves a 42% expansion in workspace volume and a 35% improvement in end-effector dexterous task success rate. These advances significantly enhance reachability, deployment efficiency, and system scalability in human–robot collaborative environments.
Application Category
📝 Abstract
Robotic manipulators, traditionally designed with classical joint-link articulated structures, excel in industrial applications but face challenges in human-centered and general-purpose tasks requiring greater dexterity and adaptability. Addressing these limitations, we introduce the Prismatic-Bending Transformable (PBT) Joint, a novel design inspired by the scissors mechanism, enabling transformable kinematic chains. Each PBT joint module provides three degrees of freedom-bending, rotation, and elongation/contraction-allowing scalable and reconfigurable assemblies to form diverse kinematic configurations tailored to specific tasks. This innovative design surpasses conventional systems, delivering superior flexibility and performance across various applications. We present the design, modeling, and experimental validation of the PBT joint, demonstrating its integration into modular and foldable robotic arms. The PBT joint functions as a single SKU, enabling manipulators to be constructed entirely from standardized PBT joints without additional customized components. It also serves as a modular extension for existing systems, such as wrist modules, streamlining design, deployment, transportation, and maintenance. Three sizes-large, medium, and small-have been developed and integrated into robotic manipulators, highlighting their enhanced dexterity, reachability, and adaptability for manipulation tasks. This work represents a significant advancement in robotic design, offering scalable and efficient solutions for dynamic and unstructured environments.
Problem
Research questions and friction points this paper is trying to address.
Enhance dexterity and adaptability in robotic manipulators.
Introduce a transformable joint for modular, foldable manipulators.
Provide scalable, reconfigurable assemblies for diverse tasks.
Innovation
Methods, ideas, or system contributions that make the work stand out.
PBT Joint enables transformable kinematic chains
Provides bending, rotation, elongation/contraction degrees
Modular, foldable design enhances dexterity and reachability
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