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Prototype of a Redundant Parallel Robot Wrist

[+] Author Affiliations
Tarcisio A. Hess-Coelho

University of São Paulo, São Paulo, SP, Brazil

Paper No. DETC2004-57286, pp. 749-754; 6 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


This paper presents a prototype of a 4-dof robot wrist based on a redundant kinematic parallel structure. It shows the built prototype, and all subsystems are described in detail. The analysis of mechanism topology is performed, so its kinematic structure is characterized in terms of moving links, active and passive joints. By means of developed kinematic model, occurrence of singular configurations is predicted and workspace is evaluated. Finally, actuator driving torques are estimated for some motions of end-effector.

Copyright © 2004 by ASME



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