wrist_design

An Evolutionary Approach for the Optimal Design of the iCub mk.3 Parallel Wrist

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 …

Comparison of Workspace Analysis for Different Spherical Parallel 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 …

Workspace Analysis and the Effect of Geometric Parameters for Parallel Mechanisms of the N-UU Class

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 …

A parallel kinematic wrist for the R1 humanoid robot

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 …