An end-effector wrist module for the kinematically redundant manipulation of arm-type robots

Yu Hsiang Chang, Chia Hao Liang, Chao Chieh Lan

研究成果: Article同行評審

摘要

Industrial arm-type robots have multiple degrees-of-freedom (DoFs), but the use of the roll-pitch-roll wrist configuration yields singularities inside the reachable workspace. Excessive joint velocities will occur and result in a poor path tracking response when encountering the wrist singularities. Arm-type robots currently do not have enough dexterity to move the end-effector path away from the wrist singularities. Robots with redundant DoFs can be used to provide additional dexterity required to avoid the singularities and reduce the excessive joint velocities. An end-effector wrist module is proposed to provide two redundant DoFs when interfaced with an existing 6-DoF robot. The new 8-DoF robot has a compact roll-pitch-yaw wrist that has no singularities inside the reachable workspace. Hence excessive joint velocities can be avoided. The highly redundant robot can also be used to avoid collisions in various directions. Three path tracking examples with experiments are provided to show the advantages of the proposed design when compared with existing redundant or non-redundant robots. We expect that this module can serve as a cost-effective solution in applications where singularity-free motion or collision-free motion is required

原文English
文章編號104064
期刊Mechanism and Machine Theory
155
DOIs
出版狀態Published - 2021 一月

All Science Journal Classification (ASJC) codes

  • Bioengineering
  • Mechanics of Materials
  • Mechanical Engineering
  • Computer Science Applications

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