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Parallel Wrists for Enhancing Grasping Performance

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Grasping in Robotics

Part of the book series: Mechanisms and Machine Science ((Mechan. Machine Science,volume 10))

Abstract

Good grasping and effective manipulation heavily depend on the performance of robotic wrists such as, e.g., the number of degrees of freedom, the kind of motion that is generated, the dexterity of the operations, the stiffness, and the size of the mechanical structure; such characteristics heavily affect kinematic and dynamic performance of the manipulation and can lead to a successful grasp or to an unexpected failure, if not taken into consideration since the early design steps. This chapter, after an introduction recalling the wrist structure of the industrial manipulators, focuses on parallel kinematics wrists, a rather new kind of mechanical architecture that has not found so far relevant industrial applications but shows very promising features, such as mechanical stiffness, high accuracy, lightweight construction, and so on. After presenting a powerful kinematical tool for the synthesis of parallel kinematics machines (SPM), which is based on Lie algebra, the design of a novel spherical wrist is discussed in details. A prototype machine, actuated by three brushless linear motors, has been built with the aim of obtaining good static and dynamic performance.

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Author information

Authors and Affiliations

  1. Department of Industrial Engineering and Mathematical Sciences, Polytechnic University of Marche, Via Brecce Bianche, 60131, Ancona (AN), Italy

    Massimo Callegari, Luca Carbonari & Matteo-Claudio Palpacelli

  2. eCampus University, Via Isimbardi 10, 22060, Novedrate (CO), Italy

    Giacomo Palmieri

Authors
  1. Massimo Callegari
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  2. Luca Carbonari
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  3. Giacomo Palmieri
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  4. Matteo-Claudio Palpacelli
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Corresponding author

Correspondence to Massimo Callegari .

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Editors and Affiliations

  1. University of Cassino, Via G. Di Biasio 43, Cassino, 03043, Italy

    Giuseppe Carbone

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© 2013 Springer-Verlag London

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Callegari, M., Carbonari, L., Palmieri, G., Palpacelli, MC. (2013). Parallel Wrists for Enhancing Grasping Performance. In: Carbone, G. (eds) Grasping in Robotics. Mechanisms and Machine Science, vol 10. Springer, London. https://doi.org/10.1007/978-1-4471-4664-3_8

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  • DOI: https://doi.org/10.1007/978-1-4471-4664-3_8

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  • Publisher Name: Springer, London

  • Print ISBN: 978-1-4471-4663-6

  • Online ISBN: 978-1-4471-4664-3

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