This paper describes a three-degrees-of-freedom parallel-actuated wrist mechanism developed at Ohio University. This mechanism is capable of pointing an axis within a cone from the nominal position. The mechanism allows unlimited rotation about the pointing axis. Experiments were conducted to validate the kinematic model of the designed wrist.

Issue Section:
Technical Briefs
Topics:
Kinematics, Manufacturing, Rotation
1.
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2.
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3.
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4.
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5.
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6.
Milenkovic, V., 1985, “Non-Singular Industrial Robot Wrist,” U.S. Patent, 4,907,937.
7.
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8.
Miyake, N., 1983, “Flexible Wrist Mechanism,” U.S. Patent, 4,568,311.
9.
Peter, D. A., 1985, “Wrist Mechanism for a Robot Arm,” U.S. Patent, 4,703,668.
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 by The American Society of Mechanical Engineers
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