Design of an overconstrained and dextrous spherical wrist

Journal of Mechanical Design, Transactions of the ASME

Volumn 122, Issue 3, 2000, Pages 347-353

  Wiitala, Jared M ^a,b   Stanišić, Michael M ^a  

^a UNIVERSITY OF NOTRE DAME   (United States)

^b LOCKHEED MARTIN SPACE SYSTEMS COMPANY   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

EID: 0010036474     PISSN: 10500472     EISSN: None     Source Type: Journal    
DOI: 10.1115/1.1286870     Document Type: Article

References (12)

1. Tsai, L. W., 1999, Robot Analysis, The Mechanics of Serial and Parallel Manipulators, Wiley, New York.
2. Paul, R. P., and Stevenson, C. N., 1983, Kinematics of Robot Wrists, Int. J. Robot. Res., 2, No. 1, pp. 31-38.
3. Susnjara, K. J., and Fleck, M. A., US Patent No. 4,353,677.
4. Milenkovic, V., US Patent No. 4,907,937.
5. Milenkovic, V., US Patent No. 4,744,264.
6. 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.
7. 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.
8. Rosheim, M., US Patent Nos. 4,686,866 4,723,460 4,729,253.
9. Pieper, D. L., 1968, “The Kinematics of Manipulators under Computer Control,” Ph.D. Dissertation, Computer Science Dept., Stanford Univ., Stanford, CA.
10. 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.
11. 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.
12. Craig, J. J., 1989, Introduction to Robotics Mechanisms and Control, Addison-Wesley, New York.