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A new elastic structure for a compliant robot wrist

Published online by Cambridge University Press:  09 March 2009

Štefan Havlík
Štefan Havlík
Affiliation:
Institute of Technical Cybernetics, Slovak Academy of Sciences, Dúbravská Cesta, Bratislava (Czechoslovakia)
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Summary

A new elastic structure of a robot wrist, which exhibits a six decree of freedom flexural capability, is described. Force and compliance analysis is made, and algorithms for geometrical parameter synthesis are proposed. Owing to the technological simplicity of the designed structure, it is possible to construct cost-effective compliance devices. The intended use is to permit the assembly of close tolerance parts with industrial robots having relatively low positional accuracy. It could also be applied to other manual or automatic matching operations.

Type
Article
Information
Robotica , Volume 1 , Issue 2 , April 1983 , pp. 95 - 102
Copyright
Copyright © Cambridge University Press 1983

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References

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