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Topological Synthesis of a Parallel Wrist Mechanism

[+] Author Affiliations
Tarcisio A. Hess-Coelho

University of São Paulo, São Paulo, SP, Brazil

Paper No. DETC2004-57080, pp. 223-229; 7 pages
  • ASME 2004 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 2: 28th Biennial Mechanisms and Robotics Conference, Parts A and B
  • Salt Lake City, Utah, USA, September 28–October 2, 2004
  • Conference Sponsors: Design Engineering Division and Computers and Information in Engineering Division
  • ISBN: 0-7918-4695-4 | eISBN: 0-7918-3742-4
  • Copyright © 2004 by ASME


To determine a suitable kinematic structure for a specific application is a complex task. Some available methods may provide a list of possible architectures for a robot wrist. However, a systematic method for selecting one among others is still an open problem. The paper presents a qualitative procedure for topological synthesis based on criteria that consider wrist design requirements and parallel mechanism peculiarities. The performance of chosen topology is evaluated according to described requirements.

Copyright © 2004 by ASME



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