Lock your robot: A review of locking devices in robotics

Michiel Plooij; Glenn Mathijssen; Pierre Cherelle; Dirk Lefeber; Bram Vanderborght

doi:10.1109/MRA.2014.2381368

Lock your robot: A review of locking devices in robotics

Michiel Plooij, Glenn Mathijssen, Pierre Cherelle, Dirk Lefeber, Bram Vanderborght

Toegepaste Mechanica

Onderzoeksoutput: Article › peer review

130 Citaten (Scopus)

1171 Downloads (Pure)

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Locking devices are widely used in robotics, for instance to lock springs and joints or to reconfigure robots. This review article classifies the locking devices currently described in the literature and performs a comparative study. Designers can therefore better determine which locking device best matches the needs of their application. The locking devices are divided into three main categories based on different locking principles: 1) mechanical locking, 2) friction-based locking, and 3) singularity locking. Different locking devices in each category can be passive or active. Based on an extensive literature survey, this article summarizes the findings by comparing different locking devices on a set of properties of an ideal locking device.

Originele taal-2	English
Pagina's (van-tot)	106-117
Aantal pagina's	12
Tijdschrift	IEEE Robotics and Automation Magazine
Volume	22
Nummer van het tijdschrift	1
DOI's	https://doi.org/10.1109/MRA.2014.2381368
Status	Published - 12 mrt 2015

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201504 lockingdevices
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Lock your robot: A review of locking devices in robotics

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