Parametric Ball-Joints for Continuum Robots (Onshape Toolbox)

Parametric Ball Joints

This project includes a set of ready-to-print STL files for modular, interlocking ball joints designed for use in continuum robots, such as magnetic endoscopes or soft robotic arms (or any other application you can think of). These joints are part of a parametric design approach described in our newly published paper in Advanced Intelligent Systems. While it was originally intended for magnetic continuum robots, the ball joints can easily be modified to be used with conventional tendon driven methods.

Using our open-source CAD toolbox (built in the Onshape environment), you can generate custom joints in just a few clicks—tailored to your desired size, material, and application. The toolbox allows you to export the 3d model in a variety of formats for 3d printing, machining, rendering, etc. The ball joints can be used for any application requiring a snap-fitting ball joint with low friction and a limited range of motion.

To use the toolbox you will need an Onshape CAD account.

• A free account at: https://www.onshape.com/en/sign-up 
• Or a free education account at: https://www.onshape.com/en/education/sign-up) 

What’s Included:

• A series of STLs for commonly used joint sizes
• A link to the Onshape Toolbox
• A youtube tutorioal on how to install the toolbox in Onshape 
• A link to the publication if you're interested in the details

Want to design your own?

Use our open-source Onshape toolbox to generate your own STL files in minutes:

👉 Toolbox Installation and use Tutorial (YouTube)
https://www.youtube.com/watch?v=zDgmvywsh9k

👉 Toolbox Link (Onshape)
https://cad.onshape.com/documents/49ba22a931b39accdb89c003/w/ced6cf60792a1de3dc50a86c/e/967e0f900e988d414d38e641 

👉 Full Paper (Advanced Intelligent Systems)
https://advanced.onlinelibrary.wiley.com/doi/full/10.1002/aisy.202500180