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.
robots; wrists; mechanisms; remote actuation; topology; graph theory
01 Pubblicazione su rivista::01a Articolo in rivista
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]
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11573/46000
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