Title :
The workspace of three-DOF, four-jointed spherical wrist mechanisms
Author :
Lin, Chen-Chou ; Tsai, Lung-wen
Author_Institution :
Dept. of Mech. Eng., Maryland Univ., College Park, MD, USA
Abstract :
The orientational workspace of three-DOF (degree-of-freedom), four-jointed spherical wrist mechanisms was investigated. The workspace boundary equations were derived via geometric consideration. It is shown that, for wrist mechanisms with links 2 and 3 coupled, the workspace boundary consists of circles centered at a fixed axis of rotation, while, for mechanisms with links 1 and 2 coupled, the boundary consists of two branches of curves. The workspace is divided by inner and outer boundaries into regions of accessibility zero, two, and four. The criteria for full workspace design as well as for the maximum four-root region have been established
Keywords :
geometry; robots; accessibility; geometry; inner boundary; orientational workspace; outer boundaries; robots; spherical wrist mechanisms; workspace boundary; Aggregates; Coaxial components; Drilling; Educational institutions; Equations; Grippers; Mechanical engineering; Transmission line matrix methods; Wrist;
Conference_Titel :
Robotics and Automation, 1991. Proceedings., 1991 IEEE International Conference on
Conference_Location :
Sacramento, CA
Print_ISBN :
0-8186-2163-X
DOI :
10.1109/ROBOT.1991.131836
