论文信息 - The Design of a Novel Pitch-Roll Wrist with Spherical Cam-Roller Pairs

The Design of a Novel Pitch-Roll Wrist with Spherical Cam-Roller Pairs

The design of an innovative robotic wrist with spherical cam-roller pairs is reported here. The geometry of the wrist is determined based on cam-roller mechanisms, which are back-driveable. In this mechanism, two roller carrying discs (RCDs) drive a conjugate-cam subassembly to produce roll and pitch motions. Kinematically equivalent to a bevel-gear differential mechanism, the designed mechanism offers low friction, low backlash, and high stiffness.

Jorge Angeles | T. G. Ghuneim | S. P. Bai

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