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JRM Vol.25 No.2 pp. 294-305
doi: 10.20965/jrm.2013.p0294
(2013)

Paper:

Design of Large Motion Range and Heavy Duty 2-DOF Spherical Parallel Wrist Mechanism

Koji Ueda*, Hiroya Yamada**, Hiroaki Ishida*, and Shigeo Hirose*

*Department of Mechanical and Aerospace Engineering, Tokyo Institute of Technology, 2-12-1 Ookayama, Meguro-ku, Tokyo 152-8552, Japan

**Global Edge Institute, Tokyo Institute of Technology, 2-12-1 Ookayama, Meguro-ku, Tokyo 152-5880, Japan

Received:
October 23, 2012
Accepted:
January 16, 2013
Published:
April 20, 2013
Keywords:
wrist mechanism, spherical linkage, large workspace, large load capacity
Abstract

Wrist mechanisms are important elements of robotic arms because they significantly affect the arm’s handling ability. Although various wrist mechanisms have been developed to date, a mechanism with a compact structure, a wide range of motion and a large load capacity has not yet been realized. Thus, in this paper, we propose 2-DOF Spherical Parallel (2DSP) mechanism, a heavy-duty wrist mechanism with a large motion range, and clarify its features both analytically and experimentally. The 2DSP mechanism is driven by a 2-DOF spherical parallel mechanism and is supported by a universal joint located at its center. This structure allows the 2DSP mechanism to realize a large motion range and load capacity and simplifies its kinematic analysis. Based on this analysis, we clarify the design process to maximize the motion range and propose a preferable structure of passive joints from the viewpoint of load capacity and production cost. We also describe the detailed design of a 2DSP mechanism for a rescue robot we developed previously and verify the feasibility of the proposed mechanism.

Cite this article as:
Koji Ueda, Hiroya Yamada, Hiroaki Ishida, and Shigeo Hirose, “Design of Large Motion Range and Heavy Duty 2-DOF Spherical Parallel Wrist Mechanism,” J. Robot. Mechatron., Vol.25, No.2, pp. 294-305, 2013.
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