Abstract
This paper discusses a general method for determining the kinematic performance of spherical robot wrists. Different wrist types considered include R-P-R (roll-pitch-roll) and P-Y-R (pitch-yaw-roll) wrists. Singularity conditions are indicated for both cases. For R-P-R wrists, singularity is defined by the ratio of the angular velocity of each motor to the velocity around the degeneracy axis. For P-Y-R wrists, singularity is identified both by analyzing the Jacobian matrix and by analyzing the relative velocities of the wrist components.
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© 1994 Springer-Verlag/Wien
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Romiti, A., Raparelli, T., Sorli, M. (1994). Robot Wrist Configurations, Mechanisms and Kinematics. In: Kopacek, P. (eds) Robotics in Alpe-Adria Region. Schriftenreihe der Wissenschaftlichen Landesakademie für Niederösterreich. Springer, Vienna. https://doi.org/10.1007/978-3-7091-9346-4_8
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DOI: https://doi.org/10.1007/978-3-7091-9346-4_8
Publisher Name: Springer, Vienna
Print ISBN: 978-3-211-82545-7
Online ISBN: 978-3-7091-9346-4
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