Development of a compact wrist mechanism with high torque density

Cheng Yu Chu, Jia You Xu, Chao Chieh Lan

研究成果: Conference contribution

3 引文 斯高帕斯(Scopus)

摘要

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.

原文English
主出版物標題AIM 2012 - 2012 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Conference Digest
頁面226-231
頁數6
DOIs
出版狀態Published - 2012 十月 5
事件2012 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2012 - Kaohsiung, Taiwan
持續時間: 2012 七月 112012 七月 14

出版系列

名字IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM

Other

Other2012 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2012
國家/地區Taiwan
城市Kaohsiung
期間12-07-1112-07-14

All Science Journal Classification (ASJC) codes

  • 控制與系統工程
  • 軟體
  • 電腦科學應用
  • 電氣與電子工程

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