Lockable joint mechanism

The flexible and reconfigurable gripper, developed in the AUTORECON project, is a flexible fixture that not only grasps the work pieces with different geometric shape, but also need to perform some cooperation with the welding gun. For both operational flexibility and mechanical stiffness, a high locking torque is required in the revolute joint of the flexible gripper. The characteristics of the lockable joint are: Strong locking torque, High precision, Zero backlash Compact Mostly commercial components The lockable joint is based on the idea of creating a shaft-hub joint actuated by adherence, thus supporting very efficiently the function of the lockable joint. The locking and unlocking of the joint can be realized automatically which increase the efficiency of the whole assembly line