Abstract
Wrist mechanisms in humanoid robots play a crucial role by fundamentally influencing the dexterity of robotic hands. Recent designs often exploit parallel mechanisms due to their ability to transmit high loads while offering the possibility to minimize peripheral inertia of the arms. This often comes at the cost of reduced workspace. In this paper, a novel wrist mechanism of type \(2S {P}U+2RSU+1U\) is presented, with the aim to achieve human-like range of motion with good force transmission capabilities in a compact form. An in-depth kinematic analysis of the new parallel mechanism is presented including solutions to both forward and inverse kinematics and a comparison to the traditional \(2S {P}U+1U\) mechanism is drawn, showing increased dexterity and range of motion.
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Notes
- 1.
S, P and U stand for spherical, prismatic and universal joint respectively and underscores denote actuated joints.
- 2.
Software available at https://github.com/dfki-ric/NovelWrist/.
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Acknowledgements
This work was partially supported from the projects VeryHuman (FKZ 01IW20004) and TransFIT (FKZ 50RA1701) funded by the German Aerospace Center (DLR) with federal funds from the Federal Ministry of Education and Research (BMBF) and Federal Ministry of Economic Affairs and Energy (BMWi) respectively.
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Stoeffler, C., del Rio Fernandez, A., Peters, H., Schilling, M., Kumar, S. (2022). Kinematic Analysis of a Novel Humanoid Wrist Parallel Mechanism. In: Altuzarra, O., Kecskeméthy, A. (eds) Advances in Robot Kinematics 2022. ARK 2022. Springer Proceedings in Advanced Robotics, vol 24. Springer, Cham. https://doi.org/10.1007/978-3-031-08140-8_38
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