Title :
Robotic passive compliant wrist and its optimal design
Author :
Shangxian, Peng ; Qinggang, Meng ; Zuozhong, Jin
Author_Institution :
Tianjin Univ., China
Abstract :
Based on analyzing the mechanism of passive compliant assembly, its geometric-force models are presented, and the stiffness matrix of laminated circular elastic element is set up. The method of optimum of RCC wrist is compiled by way of two phases, respectively
Keywords :
manipulators; matrix algebra; optimisation; RCC wrist; geometric-force models; laminated circular elastic element; optimal design; passive compliant assembly; robotic passive compliant wrist; stiffness matrix; Design methodology; Design optimization; Difference equations; Friction; Pressing; Robotic assembly; Robots; Solid modeling; Springs; Wrist;
Conference_Titel :
Industrial Technology, 1994., Proceedings of the IEEE International Conference on
Conference_Location :
Guangzhou
Print_ISBN :
0-7803-1978-8
DOI :
10.1109/ICIT.1994.467130
