Robot Wrist Configurations, Mechanisms and Kinematics
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.
KeywordsAngular Velocity Pitch Motion Bevel Gear Robotic Research Degeneracy Level
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