Substitute-Wrists to Aid in the Placing of Tools on Robots With 3-R Spherical Wrists

Authors

Mohamed Trabia, University of Nevada, Las VegasFollow
Joseph K. Davidson, Arizona State University at the Tempe Campus

Document Type

Article

Publication Date

3-1992

Publication Title

Journal of Mechanical Design

Volume

114

Issue

1

First page number:

143

Last page number:

152

Abstract

This paper treats the three-jointed spherical wrist on which the tool is placed at an angle 0. A two-parameter set of axes is identified for the wrist such that the angular velocities and accelerations at the three joints are within acceptable limits during a 2-rotation of the end-effector at constant speed about each such axis. This set of axes is compared both to the total set of available axes of full rotation and to the set for which the determinant of the wrist Jacobian is greater than a specified minimum value. For each set of axes, hypothetical substitute-wrists permit the generalization of design conditions for robots with spherical wrists on which = 0 to robots with spherical wrists on which 0, and they provide geometrical limits on tool-placement which bound the velocities and accelerations at the wrist joints. Lastly, comments are made about balancing the velocity and acceleration characteristics of the actuators in a spherical wrist.

Keywords

Manipulators (Mechanism); Robots — Motion; Robotics; Wrist

Disciplines

Applied Mechanics | Artificial Intelligence and Robotics | Computer-Aided Engineering and Design | Mechanical Engineering

Language

English

Comments

(Refer to PDF file for exact formulas.)

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.

Publisher Citation

Substitute-Wrists to Aid in the Placing of Tools on Robots With 3-R Spherical Wrists M. Trabia and J. K. Davidson, J. Mech. Des. 114, 143 (1992), DOI:10.1115/1.2916908

Repository Citation

Trabia, M., Davidson, J. K. (1992). Substitute-Wrists to Aid in the Placing of Tools on Robots With 3-R Spherical Wrists. Journal of Mechanical Design, 114(1), 143-152.