New zero-dimension robot wrist: design and accessibility analysis

International Journal of Robotics Research

Volumn 20, Issue 2, 2001, Pages 163-173

  Yang, Daniel C H ^a   Rauchfuss, Jason W ^a  

^a UNIVERSITY OF CALIFORNIA   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

ALGORITHMS; COMPUTER AIDED ANALYSIS; COMPUTER SOFTWARE; INDUSTRIAL APPLICATIONS; KINEMATICS;

ACCESSIBILITY ANALYSIS; ORTHOGONAL JOINTS; ZERO DIMENSION ROBOT WRIST;

ROBOTIC ARMS;

EID: 0035250683     PISSN: 02783649     EISSN: None     Source Type: Journal    
DOI: 10.1177/02783640122067327     Document Type: Article

References (8)

1. Denavit, J., and Hartenberg, R. 1955. A kinematic notation for lower-pair mechanisms based on matrices. ASME Journal of Applied Mechanics, 22:215-221.
2. Guinot, J., and Biduad, P. 1986. Analysis of a robot wrist for mechanical decoupling of end effector position and orientation. Symposium on Theory and Practice of Robots and Manipulators (RoManSys 6), Krakow, Poland, September 9-12, pp. 68-77.
3. Paul, R. P. 1981. Robot Manipulators: Mathematics Programming, and Control. Cambridge, MA: MIT Press.
4. Pilarski, R. 1984. Robotic adhesive dispensing for bonding and sealing. Robotics Today, October, pp. 35-37.
5. Rauchfuss, J. 1997. Exact Point Accessibility of a Robotic Manipulator. Ph.D. dissertation, University of California, Los Angeles.
6. Rauchfuss, J., and Yang, D.C.H. 2000. A geometric approach for determining exact point accessibility of robotic manipulator. ASME Journal of Mechanical Design 122:287-293.
7. Rosheim, M. 1989. Robot Wrist Actuators. New York: John Wiley & Sons.
8. Trevelyan, J., Kovesi, P., Ong, M., and Elford, D. 1986. ET: A wrist mechanism without singular positions. International Journal of Robotics Research 4(4):71-85.