Mechanical analysis and design of a six-degree-of-freedom robotic wrist for space assembly

Deals with the mechanical design of a six degree-of-freedom robotic wrist whose implementation is based on the mechanism of the Stewart Platform. The wrist is composed mainly of two platforms coupled by six linear actuators driven by DC motors. Linear displacement transducers (LDT) are mounted along...

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Bibliographic Details
Main Author: Smith, W.F.
Format: Conference Proceeding
Language:English
Subjects:
Couplings
DC motors
Displacement measurement
Feedback
Hydraulic actuators
Length measurement
Position measurement
Robots
Transducers
Wrist
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Description
Summary:Deals with the mechanical design of a six degree-of-freedom robotic wrist whose implementation is based on the mechanism of the Stewart Platform. The wrist is composed mainly of two platforms coupled by six linear actuators driven by DC motors. Linear displacement transducers (LDT) are mounted along the actuators to measure their length variations for position feedback. Iterative procedures are developed for selecting proper DC motors, ballscrews, LDTs and platform parameters so that a set of design specifications including resolution, accuracy, lifting capability and workspace is satisfied.< >
ISSN:0094-2898
2161-8135
DOI:10.1109/SSST.1991.138542