A Torque-Controlled Robotic Wrist with High Torque Density and Embedded Sensing
Journal
IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
ISSN
21596247
ISBN (of the container)
9798331533427
ISBN
9798331533427
Date Issued
2025
Author(s)
Abstract
This paper presents the design and experimental validation of a torque-controlled robotic wrist with high torque density. The proposed wrist features a serial pitch-yaw joint configuration that enhances dexterity while maintaining compactness. The design integrates stepper motors, harmonic geartrains, and compliant mechanisms to optimize torque output and control accuracy. A compliant pulley and a compliant cap are introduced, enabling embedded torque sensing without the need for external sensors, thereby reducing system complexity and improving response time. Experiments are conducted to evaluate the performance of the wrist. The results demonstrate high torque accuracy, improved backdrivability, and effective impedance regulation, highlighting the benefits of the compliant-driven torque sensing approach. Compared to existing robotic wrists, the proposed design achieves a higher torque density. The findings contribute to advancing robotic wrist technology, particularly in applications requiring precise force modulation, high dexterity, and adaptable compliance.
Event(s)
2025 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2025, Hangzhou, 14 July 2025 - 18 July 2025
Subjects
backdrivability
impedance control
Robotic wrist
series elastic actuator
torque control
torque density
SDGs
Publisher
Institute of Electrical and Electronics Engineers Inc.
Type
conference paper