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.
Belfiore, N.P. (1993). An Atlas of Remote Actuated Bevel-Gear Type Wrist Mechanisms of up to 9 Links. THE INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH, 12, 448-459 [10.1177/027836499301200505].
An Atlas of Remote Actuated Bevel-Gear Type Wrist Mechanisms of up to 9 Links
N. P. Belfiore
1993-01-01
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.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
