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.
An Atlas of Remote Actuated Bevel-Gear Type Wrist Mechanisms of up to 9 Links / Belfiore, Nicola Pio. - In: THE INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH. - ISSN 0278-3649. - STAMPA. - 12:Issue 5, October 1993(1993), pp. 448-459. [10.1177/027836499301200505]
An Atlas of Remote Actuated Bevel-Gear Type Wrist Mechanisms of up to 9 Links
BELFIORE, Nicola Pio
1993
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.
