Development of a Spherical 2-DOF Wrist Employing Spatial Parallelogram Structure
| Autor: | Wheekuk Kim, Byung-Ju Yi, Hyunhwan Jeong, Sunhyuk Baek |
|---|---|
| Rok vydání: | 2020 |
| Předmět: |
musculoskeletal diseases
0209 industrial biotechnology Computer science 010401 analytical chemistry Structure (category theory) 02 engineering and technology Kinematics Wrist 01 natural sciences 0104 chemical sciences body regions 020901 industrial engineering & automation medicine.anatomical_structure Control theory Screw theory medicine Development (differential geometry) Link (knot theory) Parallelogram |
| Zdroj: | IROS |
| Popis: | A spherical two-degree-of- freedom wrist adapting the structure of the spatial parallelogram is proposed. A U type extended link out of three UU type limbs of the spatial parallelogram is selected as an output link. As a result, the wrist can be interpreted as being formed by combination of a U type limb and a (2-UU)+U type hybrid limb. Screw theory is employed to analyze its first-order kinematic model. Then a compact wrist prototype suitable for wrist module supporting the robot hand is designed and implemented. Finally, experiments with the prototype confirm that the wrist has a very high potential application for wrist modules in terms of dexterity and maximum load handling capacity. |
| Databáze: | OpenAIRE |
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