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.
Robotics, Control & Smart Systems Program
MS in Robotics, Control and Smart Systems
Aly, Mohamed Fawzy
Committee Member 1
Committee Member 2
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(2019).Omni-joint; proof of concept & comparative Study [Master’s thesis, the American University in Cairo]. AUC Knowledge Fountain.
AboZaied, AbdAllah Ezzat. Omni-joint; proof of concept & comparative Study. 2019. American University in Cairo, Master's thesis. AUC Knowledge Fountain.