AN ATLAS OF REMOTE ACTUATED BEVEL GEAR WRIST MECHANISMS OF UP TO 9 LINKS

Authors
BELFIORE NP
Citation
Np. Belfiore, AN ATLAS OF REMOTE ACTUATED BEVEL GEAR WRIST MECHANISMS OF UP TO 9 LINKS, The International journal of robotics research, 12(5), 1993, pp. 448-459
Citations number
17
Categorie Soggetti
Computer Application, Chemistry & Engineering","Controlo Theory & Cybernetics","Computer Applications & Cybernetics
Journal title
The International journal of robotics research → ACNP
ISSN journal
02783649
Volume
12
Issue
5
Year of publication
1993
Pages
448 - 459
Database
ISI
SICI code
0278-3649(1993)12:5<448:AAORAB>2.0.ZU;2-K
Abstract
An atlas of topological and functional representations of bevel gear-t ype basic robotic wrists of up to nine links with all the actuators co nnected to the frame link is presented. Each wrist mechanism is depict ed 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 c lassifies the structure through the concepts of nonfractionated degree of freedom and equivalent-open-loop chain.