RESEARCH PAPERS: Mechanisms Papers

Design Conditions for the Orientation and Attitude of a Robot Tool Carried by a 3-R Spherical Wrist

[+] Author and Article Information
M. Trabia

Department of Civil and Mechanical Engineering, University of Nevada—Las Vegas, Las Vegas, Nevada 89154

J. K. Davidson

Department of Mechanical and Aerospace Engineering, Arizona State University, Tempe, Arizona 85287

J. Mech., Trans., and Automation 111(2), 176-187 (Jun 01, 1989) (12 pages) doi:10.1115/1.3258981 History: Received March 01, 1988; Online November 19, 2009


The orientational (directional) and attitudinal capabilities for a generally-dimensioned 3-R spherical robot-wrist are presented. The wrist is treated both with joints which can freely rotate and with joints which encounter limits to rotation. A principal method is to consider a hypothetical tool-plane to be associated with the tool and to use the locus of this plane as a measure of tool orientation. Design conditions are developed and presented, among wrist dimensions and limits to rotation at the actuators, which permit a tool to be placed in any direction by the robot. A different range of directions is also established, for each of which the wrist is able to rotate the end-effector a full turn about an axis in that direction. These results contain all the attitudinal possibilities for the end-effector and are presented separately for a wrist (i) which is operated only in one closure, and (ii) which can be operated in both closures to provide a combined range of attitudes. The results are summarized in five tables.

Copyright © 1989 by ASME
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