Abstract
To simplify the control model of the robot (geometric or kinematic) it is useful to uncouple end-effector position and orientation. But for a manipulator with a classical wrist, this is mechanically impossible. In this paper, we propose an orientation mechanism made up of three revolute joints, one of them is obtained by a seven-link mechanism derived from the “Peaucellier inversor”. A mechanical system involving a gripper is described.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
R. Featherstone, The calculation of Robot Dynamics Using Articulated Body Inertias“. Journal of Robotics Research, Vol. 2, n??1 (1985).
R.P. Paul, C.N. Stevenson, “Kinematics of Robot Wrists”. Journal of Robotics Reasearch, Vol. 2, n??1 (1985).
J.P. Trevelyan, “Skills for a shearing Robot Dexterity and Sensing”, 2nd ISRR, August 1984, Kyoto-Japan.
R. Bricard, “Leçons de cinématique”, Gauthier Villars (1926).
R.S. Hartenberg, J. Denavit, “Kinematic Synthesis of Linkage”. Mc GrawHill Series in Mechanical Engineering.
R. Siestrunck, “Quelques aspects nouveaux de la théorie des mécanismes et applications”. Revue Française de Mécanique, n45 (1983).
S. Zeghloul, “Analyse de la préhension-Application à un préhenseur tridigital doté de sens tactile”, Thèse Doct. Sème cycle, Poitiers 1985.
J.C. Guinot, J.P. Lallemand, S. Zeghloul, “Etude d’un préhenseur tridigital avec sens tactile pour une opération d’assemblage”, Proc. 6th Congress on Theory of Machines and Mechanisms, Dec. 1983, New-Delhi India.
Author information
Authors and Affiliations
Editor information
Rights and permissions
Copyright information
© 1987 Hermes, Paris
About this chapter
Cite this chapter
Guinot, J.C., Bidaud, P. (1987). Analysis of a Robot Wrist Device for Mechanical Decoupling of End-Effector Position and Orientation. In: Morecki, A., Bianchi, G., Kędzior, K. (eds) RoManSy 6. Springer, Boston, MA. https://doi.org/10.1007/978-1-4684-6915-8_5
Download citation
DOI: https://doi.org/10.1007/978-1-4684-6915-8_5
Publisher Name: Springer, Boston, MA
Print ISBN: 978-1-4684-6917-2
Online ISBN: 978-1-4684-6915-8
eBook Packages: Springer Book Archive