Kinematic Analysis of a Novel Humanoid Wrist Parallel Mechanism
Editors: Bruno Siciliano, Oussama Khatib
In ARK 2022: Advances in Robot Kinematics 2022, (ARK-2022), 27.6.-30.6.2022, Bilbao, Springer, series Springer Proceedings in Advanced Robotics, volume 24, pages 348-355, Jun/2022. ISBN: 978-3-031-08140-8.
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 2SPU + 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 2SPU + 1U
mechanism is drawn, showing increased dexterity and range of motion.