Development of a New 2-DOF Wrist Mechanism Using Reverse Motion Transmission
- Title
- Development of a New 2-DOF Wrist Mechanism Using Reverse Motion Transmission
- Author
- 이병주
- Keywords
- Mechanism design; parallel robots; grippers and other end-effectors
- Issue Date
- 2021-07
- Publisher
- IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
- Citation
- IEEE ROBOTICS AND AUTOMATION LETTERS, v. 6, NO 4, Page. 6947-6954
- Abstract
- In this letter, we introduced a novel 2-DOF robotic wrist with a hollow channel. The proposed wrist was developed by stacking two symmetric 5R spatial manipulators using a reverse motion transmission mechanism. As a result, the proposed wrist mechanism has not only a wide workspace, but also a huge hollow space compared to previous wrist models. The kinematic model is derived via the screw theory, and kinematic characteristics are analyzed in terms of two kinematic indices. The prototype hardware of compact size wrist was designed and implemented. Finally, the validity and feasibility of the wrist were confirmed through experiments.
- URI
- https://ieeexplore.ieee.org/document/9483658https://repository.hanyang.ac.kr/handle/20.500.11754/172477
- ISSN
- 23773766
- DOI
- 10.1109/LRA.2021.3096504
- Appears in Collections:
- COLLEGE OF ENGINEERING SCIENCES[E](공학대학) > ELECTRICAL ENGINEERING(전자공학부) > Articles
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