The payload-to-weight ratio is one of the most important metrics when designing robotic wrists. A solution to maximize it and to reduce the share of the motive power required to drive the robot's links is to employ parallel kinematic mechanisms …
In order to reduce the share of the motive power required to drive the robot's links, with the aim of increasing its payload-to- weight ratio, this article studies the best way to relocate the actuators (inertial load) but not complicate the joint …
N-UU class mechanisms, exemplified by the Omni-Wrist III, are compact parallel kinematic mechanisms (PKM) with large singularity free workspaces. These characteristics make them ideal for applications in robot wrists. This article presents the …
The torso of a humanoid robot is a fundamental part of its kinematic structure because it defines the reachable workspace, supports the entire upper-body and can be used to control the position of the center of mass. The majority of the torso joints …
This paper describes the conception, design, fabrication and testing of a wrist for a new humanoid robot. The wrist is comprised of a three degrees-of-freedom (DOF) parallel mechanism actuated by three motors. The wrist was made to be lightweight and …