Conference Paper

Comparative study of spherical robots based on performances indices

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Abstract

In this paper, the comparison analysis has been presented based on performance indices since it is considered as the essential criteria for robot evaluation. Two spherical serial kinematic structures are proposed for the comparative study, which comprises a three rotational joints having concurrent axes, the first one has an orthogonal axis and the second one has a non-orthogonal chain. Several criteria exist for evaluating the efficiency and the performance of the robotic structure, the kinematic indices chosen in this work are manipulability and the dexterity. The simulation results have been developed and compared to each other in order to choose the most appropriate wrist to perform a spherical movement for a desired application.

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Kinematic and static characterization of wrist joints and their optimal design
  • H Asada
  • C Granito
H. Asada, C. Granito, Kinematic and static characterization of wrist joints and their optimal design, International Conference on Robotics and Automation, IEEE, USA, 1985, 244-250.