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Journal Articles

The Design of a Chain of Spherical Stephenson Mechanisms for a Gearless Robotic Pitch-Roll Wrist

S. Hernandez, S. Bai, J. Angeles
Journal: Journal of Mechanical Design
Article Type: Research Papers
J. Mech. Des. March 2006, 128(2): 422–429.
DOI: https://doi.org/10.1115/1.2167653
Published Online: June 6, 2005
... to the straight teeth of the bevel gears of these trains. Moreover, unavoidable backlash introduces unmodeled dynamics, which mars robot performance. To alleviate these drawbacks, a gearless pitch-roll wrist is currently under development for low backlash and high stiffness. The wrist consists of spherical cam...
View Article titled, The Design of a Chain of Spherical Stephenson Mechanisms for a Gearless Robotic <span class="search-highlight">Pitch</span>-<span class="search-highlight">Roll</span> <span class="search-highlight">Wrist</span>
Click here to open pdf in another window PDF for The Design of a Chain of Spherical Stephenson Mechanisms for a Gearless Robotic <span class="search-highlight">Pitch</span>-<span class="search-highlight">Roll</span> <span class="search-highlight">Wrist</span>
Topics: Design, Linkages, Chain, Robotics, Cams, Dimensions, Kinematics, Manipulators