Conference Paper

A Case Study About Spherical Robot Wrists with Serial and Parallel Structure. Trc-IFToMM Symposium on Theory of Machines and Mechanisms 2015 (Proceedings P. 581 - 589), Izmir (Turkey), 14.-17.06.2015, ISBN 978-605-84220-0-1

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Abstract

This paper describes two robot wrists with a spherical design. Their structure implicates that rotations are only possible about the tool-centre-point (TCP). The first wrist is of a serial configuration and has one redundant drive. The redundancy resolution and its implementation are described. By using the decision parameter from a fuzzy logic controller, the optimum positioning function for each joint is computed numerically. The second wrist is a parallel kinematic unit. An algorithm is presented, that was used to find altered link lengths to enlarge the tilting capacity. The computer searches out a solution of the kinematic dimensions by optimizing the static and kinematic performance. For this, a geometric evaluation method is proposed.

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