Title :
Design and characteristics of a parallel link compliant wrist
Author :
Hashimoto, Minoru ; Imamura, Yuichi
Author_Institution :
Dept. of Mech. Eng., Kagoshima Univ., Japan
Abstract :
A mechanical design of a parallel link compliant wrist is described based on the passive compliance analysis. The compliant wrist has a three degrees of freedom parallel link mechanism and provide the necessary flexibility for pick-and-place, grinding and polishing operations. It is shown that using the design method we can construct a compliant wrist which has a desired Cartesian stiffness and a suitable work space. We built a compliant wrist as an example and examined the characteristics
Keywords :
computerised materials handling; grinding; industrial robots; polishing; robots; Cartesian stiffness; grinding operations; parallel link compliant wrist; passive compliance analysis; pick-and-place operations; polishing operations; robot; Damping; Design methodology; Force control; Manipulators; Mechanical engineering; Orbital robotics; Robotic assembly; Springs; Uncertainty; Wrist;
Conference_Titel :
Robotics and Automation, 1994. Proceedings., 1994 IEEE International Conference on
Conference_Location :
San Diego, CA
Print_ISBN :
0-8186-5330-2
DOI :
10.1109/ROBOT.1994.351143
