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On the kinematic analysis of geared robotic wrists

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Abstract

Geared robotic wrists are often mounted on heavy duty robots with high dexterity. Although these devices have only recently been adopted in industrial practice, systematic studies on their kinematic structure and design methodologies have already been initiated. In this paper parametric equations, to be used for the automated kinematic analysis of such mechanical systems, have been deduced. The formulation of the method is quite general and is based on the graph representation of a kinematic structure.

Sommario

I polsi robotici ad ingranaggi ed a complessità giroscopica vengono frequentemente utilizzati in robots a cui sono richieste caratteristiche di destrezza ed elevata capacità di carico. Sebbene tali dispositivi vengano da tempo utilizzati nella corrente pratica industriale, solo da pochi anni sono stati iniziati studi sistematici sulla loro struttura cinematica e sulle metodologie di progettazione.

Il lavoro discute un metodo generale per l'analisi cimematica dei rotismi in parola ed é fondato, in particolare, sulla rappresentazione mediante grafi di strutture cinematiche.

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  1. Dipartimento di Meccanica, Università della Calabria, 87030, Arcavacata di Rende, Italy

    Ettore Pennestrì

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  1. Ettore Pennestrì
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Pennestrì, E. On the kinematic analysis of geared robotic wrists. Meccanica 26, 155–160 (1991). https://doi.org/10.1007/BF00429883

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  • DOI: https://doi.org/10.1007/BF00429883

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