An Atlas of Remote Actuated Bevel-Gear Type Wrist Mechanisms of up to 9 Links

Tuesday, 08 May 2012 13:30

International Journal of Robotic Research

An Atlas of Remote Actuated Bevel-Gear Type Wrist Mechanisms of up to 9

Belfiore, N.P.

Vol. 12, Issue 5, pp. 448 - 459, Oct. 1993

doi: 10.1177/027836499301200505

MIT Press, Cambridge, Massachusetts (USA)

Abstract

An atlas of topological and functional representations of bevel gear-type basic robotic wrists of up to nine links with all the actuators connected to the frame link is presented. Each wrist mechanism is depicted by means of a canonical diagram that can be adopted as a schematic model for the final constructive embodiment. The corresponding graphic representation is also shown, together with a reference number that classifies the structure through the concepts of nonfractionated degree of freedom and equivalent-open-loop chain.