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DESIGN INNOVATION BRIEF

Design of an Overconstrained and Dextrous Spherical Wrist

[+] Author and Article Information
Jared M. Wiitala, Michael M. Stanišić

  University of Notre Dame, Notre Dame, IN 46556-5637

J. Mech. Des 122(3), 347-353 (Dec 01, 1998) (7 pages) doi:10.1115/1.1286870 History: Received December 01, 1998
Copyright © 2000 by ASME
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References

Tsai, L. W., 1999, Robot Analysis, The Mechanics of Serial and Parallel Manipulators, Wiley, New York.
Paul,  R. P., and Stevenson,  C. N., 1983, Kinematics of Robot Wrists, Int. J. Robot. Res., 2, No. 1, pp. 31–38.
Susnjara, K. J., and Fleck, M. A., US Patent No. 4,353,677.
Milenkovic, V., US Patent No. 4,907,937.
Milenkovic, V., US Patent No. 4,744,264.
Milenkovic, V., 1987, “New Non-Singular Robot Wrist Design,” Proceedings of the 17th ISIR/Robots11, pp. 13–29 to 13–42, SME Technical Paper MS87-290, Chicago IL.
Trevelyan,  J. P., Kovesi,  P. D., Ong,  M., and Elford,  D., 1986, “ET: A Wrist Without Singular Positions,” Int. J. Robot. Res., 4, No. 4, pp. 71–85.
Rosheim, M., US Patent Nos. 4,686,866 4,723,460 4,729,253.
Pieper, D. L., 1968, “The Kinematics of Manipulators under Computer Control,” Ph.D. Dissertation, Computer Science Dept., Stanford Univ., Stanford, CA.
Williams, R. L., II, 1994, The Double Universal Joint Wrist on a Manipulator: Solution of Inverse Position Kinematics and Singularity Analysis, Proceedings of the ASME 23rd Biennial Mechanisms Conference, DE-Vol. 72 , pp. 355–360, Minneapolis, MN.
Stanišić,  M. M., and Duta,  O., 1990, “Symmetrically Actuated Double Pointing Systems: The Basis of Singularity-Free Robot Wrists,” IEEE Trans. Rob. Autom., 6, No. 5, pp. 562–569.
Craig, J. J., 1989, Introduction to Robotics Mechanisms and Control, Addison-Wesley, New York.

Figures

Grahic Jump Location
The prototype in an extreme position
Grahic Jump Location
The orthogonal spherical eight-bar linkage
Grahic Jump Location
An overconstrained symmetrically actuated pointing system and wrist
Grahic Jump Location
(a) revolute joint (b) spherical sliding joint
Grahic Jump Location
Rail and carriage equivalent of the pointing system and wrist

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