Mechanical analysis and design of a six-degree-of-freedom robotic wrist for space assembly

Deals with the mechanical design of a six degree-of-freedom robotic wrist whose implementation is based on the mechanism of the Stewart Platform. The wrist is composed mainly of two platforms coupled by six linear actuators driven by DC motors. Linear displacement transducers (LDT) are mounted along the actuators to measure their length variations for position feedback. Iterative procedures are developed for selecting proper DC motors, ballscrews, LDTs and platform parameters so that a set of design specifications including resolution, accuracy, lifting capability and workspace is satisfied