Design Conditions for the Orientation and Attitude of a Robot Tool Carried by a 3-R Spherical Wrist

Document Type

Article

Publication Date

1989

Publication Title

Journal of Mechanisms Transmissions and Automation in Design-Transactions of the ASME

Volume

111

Issue

2

First page number:

176

Last page number:

187

Abstract

The orientational (directional) and attitudinal capabilities for a generally-dimensioned 3-R spherical robot-wrist are presented. The wrist is treated both with joints which can freely rotate and with joints which encounter limits to rotation. A principal method is to consider a hypothetical tool-plane to be associated with the tool and to use the locus of this plane as a measure of tool orientation. Design conditions are developed and presented, among wrist dimensions and limits to rotation at the actuators, which permit a tool to be placed in any direction by the robot. A different range of directions is also established, for each of which the wrist is able to rotate the end-effector a full turn about an axis in that direction. These results contain all the attitudinal possibilities for the end-effector and are presented separately for a wrist (i) which is operated only in one closure, and (ii) which can be operated in both closures to provide a combined range of attitudes. The results are summarized in five tables.

Keywords

Actuators; Design; Dimensions; End effectors; Joints (Engineering); Robot hands; Robots; Rotation; Rotational motion

Disciplines

Acoustics, Dynamics, and Controls | Engineering | Mechanical Engineering | Robotics

Language

English

Permissions

Use Find in Your Library, contact the author, or interlibrary loan to garner a copy of the item. Publisher policy does not allow archiving the final published version. If a post-print (author's peer-reviewed manuscript) is allowed and available, or publisher policy changes, the item will be deposited.

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