Development of a compact wrist mechanism with high torque density

Cheng Yu Chu, Jia You Xu, Chao Chieh Lan

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Citations (Scopus)

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.

Original languageEnglish
Title of host publicationAIM 2012 - 2012 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Conference Digest
Pages226-231
Number of pages6
DOIs
Publication statusPublished - 2012 Oct 5
Event2012 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2012 - Kaohsiung, Taiwan
Duration: 2012 Jul 112012 Jul 14

Publication series

NameIEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM

Other

Other2012 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2012
CountryTaiwan
CityKaohsiung
Period12-07-1112-07-14

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Software
  • Computer Science Applications
  • Electrical and Electronic Engineering

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