Development of a compact wrist mechanism with high torque density
Journal
IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
Start Page
226
End Page
231
ISSN
21596247
21596255
ISBN (of the container)
9781479957361
9781467325752
9781424412648
9781424480319
9781467391078
1424412641
9781509020652
9781424428533
0780377591
9798350355369
Date Issued
2012
Author(s)
Abstract
This paper proposes a new wrist mechanism for robot manipulation. To develop multi-dof wrist mechanisms that can emulate human wrists, compactness and high torque density are the major challenges. Traditional wrist mechanisms consist of series of rotary motors that require gearing to amplify the output torque. This often results in a bulky wrist mechanism. Instead, large linear force can be easily realized in a compact space by using leadscrew motors. Inspired by the muscle-tendon actuation pattern, the proposed mechanism consists of two parallel placed linear motors. Their linear motions are transmitted to two perpendicular rotations through a spherical mechanism and two slider crank mechanisms. High torque density can be achieved. Static and dynamic models are developed to design the wrist mechanism. A wrist prototype and its position control experiments will be presented with results discussed. The novel mechanism is expected to serve as an alternative for robot manipulators in applications that require human-friendly interactions.
Event(s)
2012 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2012
Subjects
Bio-inspired Actuation
Parallel Mechanism
Robot Dynamics
Robot Wrist
Torque Density
Bio-inspired
Parallel Mechanisms
Robot Dynamics
Robot Wrist
Torque Density
Intelligent Mechatronics
Mechanisms
Robot Applications
Torque
End Effectors
Description
2012 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2012. Kaohsiung. conference code:92955
Type
conference paper