Design of an Overconstrained and Dextrous Spherical Wrist
A new dextrous spherical wrist is presented here. The wrist is based upon a kinematically overconstrained and singularity-free pointing system. The pointing system and wrist are less mechanically complicated and have simpler kinematics than previously proposed systems. The mechanical simplification...
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| Veröffentlicht in: | Journal of mechanical design (1990) 2000-09, Vol.122 (3), p.347-353 |
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| Hauptverfasser: | , |
| Format: | Artikel |
| Sprache: | eng |
| Online-Zugang: | Volltext |
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| Zusammenfassung: | A new dextrous spherical wrist is presented here. The wrist is based upon a kinematically overconstrained and singularity-free pointing system. The pointing system and wrist are less mechanically complicated and have simpler kinematics than previously proposed systems. The mechanical simplification has enabled construction of a prototype, shown in photographs. [S1050-0472(00)00603-6] |
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| ISSN: | 1050-0472 1528-9001 |
| DOI: | 10.1115/1.1286870 |