Design and experiment of a compact wrist mechanism with high torque density
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- 作者：Cheng-Yu Chu chengyuchu@gmail.com" class="auth_mail ; Jia-You Xu sponge0121@hotmail.com" class="auth_mail ; Chao-Chieh Lan ; cclan@mail.ncku.edu.tw" class="auth_mail
- 关键词：Robot wrist ; Parallel mechanism ; Torque density ; Bio-inspired actuation ; Robot dynamics and control
- 刊名：Mechanism and Machine Theory
- 出版年：August 2014
- 年：2014
- 卷：78
- 期：Complete
- 页码：65-80
- 全文大小：2900 K
文摘
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A pitch–yaw wrist mechanism with high torque density and human-like appearance
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Two linear motors actuate a spherical mechanism through respective slider-cranks.
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Joint and link strengths have been verified to withstand high torque output.
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Torque density of 7.20 Nm/kg can be achieved with experiment validation.
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Control experiments showed that the wrist has a speed comparable to a human wrist.