Robot manipulator having a robot wrist with an offset

Details Robot manipulator having a robot wrist with an offset Robot manipulator having a robot wrist with an offset

1996-02-07

1997-06-24

Hafiz, Tariq R.

Robots

Counterbalance

395 86, 395901, 901 15, G05B 1500, G05B 1900

Patent

active

056424680

ABSTRACT:
A robot manipulator which includes an upper arm having a wrist coupled to one end of the upper arm. The wrist includes at least three rotational axes of articulation with one of the rotational axes offset from an intersection of the other two rotational axes. Three twist angles are formed between the respective rotational axes. The value of these twist angles is optimized to orientate the three rotational axes of articulation in a configuration minimizing the space which the robot manipulator cannot reach.

REFERENCES:
patent: 4823279 (1989-04-01), Perzley et al.
patent: 4887222 (1989-12-01), Miyake et al.
patent: 5157315 (1992-10-01), Miyake et al.
patent: 5159249 (1992-10-01), Megherbi
patent: 5187418 (1993-02-01), Minami et al.
patent: 5355743 (1994-10-01), Tesar
K.S. Lee; J.H. Kim; K.W. Jeong; Y. Youm, A new Technique of Eliminating Void in Workspace of a Manipulator with an Offset Wrist.
R.P. Paul and C.N. Stevenson, Kinematics of Robot Wrists, The International Journal of Robotics Research, vol. 2, No. 1, Spring 1983, pp. 31-38.

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