Lock Your Robot: A Review of Locking Devices in Robotics

摘要

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.