Title :
Kinematics of a wrist based on spherical gear & ring-rack
Author :
Li, Qiang ; Pan, Cunyun ; Zhang, Xiang
Author_Institution :
Dept. of Mech. Eng., Nat. Univ. of Defense Technol., Changsha, China
Abstract :
A novel 2-DOF wrist based on spherical gear and ring-rack is presented in this paper. Firstly, geometrical structure and mobility analysis are addressed. Then, the direct and inverse kinematics are analyzed with direction cosine matrix method. The velocity and acceleration analysis are developed, and the one order, two order kinematic influence coefficient matrixes can be deduced. Finally, the displacement, velocity, acceleration distribution figures are obtained on the basis on of the conclusions above.
Keywords :
gears; geometry; manipulator kinematics; 2-DOF wrist; acceleration analysis; direct kinematics; direction cosine matrix; displacement; geometrical structure; inverse kinematics; mobility analysis; ring-rack; spherical gear; velocity analysis; wrist kinematics; wrist manipulator; Acceleration; Biomimetics; Gears; Kinematics; Manipulators; Manufacturing; Mechanical engineering; Robots; Teeth; Wrist; kinematic influnce coefficient matrix; kinematics; ring-rack; spherical gear; wrist;
Conference_Titel :
Robotics and Biomimetics (ROBIO), 2009 IEEE International Conference on
Conference_Location :
Guilin
Print_ISBN :
978-1-4244-4774-9
Electronic_ISBN :
978-1-4244-4775-6
DOI :
10.1109/ROBIO.2009.5420518
