Abstract
This paper provides an overview of the embodiment of and explores in detail the finite kinematics of a spherical, split-equator robotic wrist joint. The joint physically consists of a symmetrically actuated, redundant spherical linkage, or double pointing system, for the pointing action of the joint and is accompanied by a third roll component of motion, thus completing the three degrees of freedom for the wrist joint. Kinematically, the wrist possesses a maximized dexterous workspace wherein the only singularity or “lock up” configuration occurs when the joint points back upon itself and would place the end effector inside of the forearm, a physically unreachable position.
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© 1998 Springer Science+Business Media Dordrecht
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Wiitala, J.M., Stanišić, M.M. (1998). Kinematics of a Split-Equator Symmetrically Actuated Double Pointing System Used in a Robotic Wrist. In: Lenarčič, J., Husty, M.L. (eds) Advances in Robot Kinematics: Analysis and Control. Springer, Dordrecht. https://doi.org/10.1007/978-94-015-9064-8_24
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DOI: https://doi.org/10.1007/978-94-015-9064-8_24
Publisher Name: Springer, Dordrecht
Print ISBN: 978-90-481-5066-3
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