A Compact Robotic Wrist with Embedded Torque Sensing for Peg-in-Hole Tasks
Part Of
IEEE International Conference on Intelligent Robots and Systems
Start Page
13001
End Page
13008
ISSN
21530858
ISBN (of the container)
9798331543938
ISBN
9798331543938
Date Issued
2025
Author(s)
Abstract
This paper presents the design and experimental validation of a torque-controlled robotic wrist for peg-in-hole tasks. 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. Experimental results demonstrate the effectiveness of the wrist in torque accuracy and misalignment correction during peg-in-hole assembly, 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/RSJ International Conference on Intelligent Robots and Systems, IROS 2025, Hangzhou, 19 October 2025 - 25 October 2025
Subjects
compactness
impedance control
peg-in-hole
Robotic wrist
series elastic actuator
torque control
torque density
Publisher
Institute of Electrical and Electronics Engineers Inc.
Type
conference paper