Metal ABENICS: Metallic Spherical Gear Mechanism with Orientation Correction using Embedded IMU Sensor

This paper introduces a novel high strength Active Ball Joint Mechanism (ABENICS) based on the Inertial Measurement Unit (IMU) for orientation feedback and control. The advanced ABENICS incorporates a sophisticated interplay of specially designed Cross-spherical and Monopole gears, fabricated from Alumigo Hard alloy. Notably, the gear-based joint proficiently drives three rotational degrees of freedom (RDoF) without slippage. The information from the IMU sensor is leveraged to comprehend the orientation of the spherical gear, enabling accurate positioning to its predefined setpoint using the developed control method. During system startup, the IMU feedback also aids in homing the spherical gear, ensuring a seamless transition to normal operation. The experimental findings affirm the efficacy of the developed control method, showcasing a significant reduction in positioning errors. The paper also introduces the development and experimentation of a robotic arm with ABENICS mechanism as the shoulder joint. The paper concludes by discussing various applications of ABENICS mechanism in robotics.