ET - A WRIST MECHANISM WITHOUT SINGULAR POSITIONS

被引：18

作者：

TREVELYAN, JP

KOVESI, PD

ONG, M

ELFORD, D

机构：

[1] Univ of Western Australia, Dep of, Mechanical Engineering, Nedlands,, Aust, Univ of Western Australia, Dep of Mechanical Engineering, Nedlands, Aust

来源：

INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH | 1986年 / 4卷 / 04期

关键词：

MECHANICS;

D O I：

10.1177/027836498600400406

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

The authors show that it is possible to design a wrist mechanism with a large angular workspace without any singularities. Although the singularities exist, they are allocated to a single wrist position outside the mechanical limits. The kinematics of the mechanism show that, although the degeneracy cone is larger than for the other wrist mechanisms, it is also largely outside the mechanical limits. Some extensions of the established concept of singularity cones are required. The authors introduce the concept of 'least favorable reorientation' to define the usable workspace of the wrist.

引用

页码：71 / 85

页数：15