Publication

Hanyang University HumanRobotics Lab

International Conference
Development of a Spherical 2-DOF Wrist Employing Spatial Parallelogram Structure
Conference
2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Author
H. Jeong, S. Baek, W. Kim, and B.-J. Yi
Year
2020
Date
2020.10.25
File
논문국제학술발표_2020_IROS_Development of a Spherical 2-DOF Wrist Employing Spatial Parallelogram Structure.pdf (780.8K) 1회 다운로드 DATE : 2021-12-21 23:08:23
A spherical two-degree-of- freedom wrist adapting the structure of the spatial parallelogram is proposed. A U type extended link out of three UU type limbs of the spatial parallelogram is selected as an output link. As a result, the wrist can be interpreted as being formed by combination of a U type limb and a (2-UU)+U type hybrid limb. Screw theory is employed to analyze its first-order kinematic model. Then a compact wrist prototype suitable for wrist module supporting the robot hand is designed and implemented. Finally, experiments with the prototype confirm that the wrist has a very high potential application for wrist modules in terms of dexterity and maximum load handling capacity.