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Development of a spherical 2-DOF wrist employing spatial parallelogram structure
- Authors
- Jeong, Hyunhwan; Baek, Sunhyuk; Kim, Wheekuk; Yi, Byung Ju
- Issue Date
- Oct-2020
- Publisher
- Institute of Electrical and Electronics Engineers Inc.
- Citation
- IEEE International Conference on Intelligent Robots and Systems, pp.6434 - 6439
- Indexed
- SCIE
SCOPUS
- Start Page
- 6434
- End Page
- 6439
- ISSN
- 2153-0858
- Abstract
- A spherical two-degree-of- freedom wrist adapting the structure of the spatial parallelogram is proposed. A U type extended link out of three UU type limbs of the spatial parallelogram is selected as an output link. As a result, the wrist can be interpreted as being formed by combination of a U type limb and a (2-UU)+U type hybrid limb. Screw theory is employed to analyze its first-order kinematic model. Then a compact wrist prototype suitable for wrist module supporting the robot hand is designed and implemented. Finally, experiments with the prototype confirm that the wrist has a very high potential application for wrist modules in terms of dexterity and maximum load handling capacity. © 2020 IEEE.
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Related Researcher
- Yi, Byung Ju
- ERICA 공학대학 (SCHOOL OF ELECTRICAL ENGINEERING)