Design of an Overconstrained and Dextrous Spherical Wrist-Reference-Cited by-同舟云学术

Design of an Overconstrained and Dextrous Spherical Wrist

Published:1998-12-01 Issue:3 Volume:122 Page:347-353
ISSN:1050-0472
Container-title:Journal of Mechanical Design
language:en
Short-container-title:

Author:

Wiitala Jared M.¹,Stanisˇic´ Michael M.¹

Affiliation:

1. University of Notre Dame, Notre Dame, IN 46556-5637

Abstract

A new dextrous spherical wrist is presented here. The wrist is based upon a kinematically overconstrained and singularity-free pointing system. The pointing system and wrist are less mechanically complicated and have simpler kinematics than previously proposed systems. The mechanical simplification has enabled construction of a prototype, shown in photographs. [S1050-0472(00)00603-6]

Publisher

ASME International

Subject

Computer Graphics and Computer-Aided Design,Computer Science Applications,Mechanical Engineering,Mechanics of Materials

Link

http://asmedigitalcollection.asme.org/mechanicaldesign/article-pdf/122/3/347/5797329/347_1.pdf

Reference12 articles.

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2. Paul, R. P., and Stevenson, C. N., 1983, Kinematics of Robot Wrists, Int. J. Robot. Res., 2, No. 1, pp. 31–38.

3. Susnjara, K. J., and Fleck, M. A., US Patent No. 4,353,677.

4. Milenkovic, V., US Patent No. 4,907,937.

5. Milenkovic, V., US Patent No. 4,744,264.

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