Publication

In this letter, we introduced a novel 2-DOF robotic wrist with a hollow channel. The proposed wrist was developed by stacking two symmetric 5R spatial manipulators using a reverse motion transmission mechanism. As a result, the proposed wrist mechanism has not only a wide workspace, but also a huge hollow space compared to previous wrist models. The kinematic model is derived via the screw theory, and kinematic characteristics are analyzed in terms of two kinematic indices. The prototype hardware of compact size wrist was designed and implemented. Finally, the validity and feasibility of the wrist were confirmed through experiments.