How to use the Omni-Wrist III for dexterous motion: An exposition of the forward and inverse kinematic relationships

被引：5

作者：

Chang-Siu, Evan ^{[1
]}

Snell, Antony ^{[1
]}

McInroe, Benjamin W. ^{[2
]}

Balladarez, Xavier ^{[3
]}

Full, Robert J. ^{[4
]}

机构：

[1] Calif State Univ, Sch Engn, Maritime Acad, 200 Maritime Acad Dr, Vallejo, CA 94590 USA

[2] Univ Calif Berkeley, Biophys Grad Grp, Berkeley, CA 94720 USA

[3] Univ Calif Berkeley, Dept Elect Engn & Comp Sci, Berkeley, CA 94720 USA

[4] Univ Calif Berkeley, Dept Integrat Biol, Berkeley, CA 94720 USA

来源：

MECHANISM AND MACHINE THEORY | 2022年 / 168卷

关键词：

Singularity-free robotic mechanism; Zero-torsion parallel mechanism; Forward and inverse kinematics;

D O I：

10.1016/j.mechmachtheory.2021.104601

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

The Omni-Wrist III, invented by Ross-Hime Designs, Inc. (Rosheim, 1999, 2002), is a well known two-degree of freedom wrist mechanism that incorporates parallel links with double universal joints (N-UU). It has the advantage of singularity-free operation over the entire hemispherical work-space and maintains a constant axial distance between the two joints. These characteristics make it an appealing choice for mobile robotic appendages that require dexterous maneuvers. While the two active input joint angles are coupled, this paper presents an accessible exposition of the forward and inverse kinematics for the position and velocity of the mechanism. The novelty of this analysis lies in the parameterization of the kinematics in terms of the vector between the origins of the tool and space frames. The results of this paper provide concise equations that are readily implementable in simulation and on low power microcontrollers enabling the use of the Omni-Wrist III for highly dynamic mobile robot maneuvers.

引用

页数：21

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