Robot wrist having an offset and a method for orientating a robo

Details Robot wrist having an offset and a method for orientating a robo Robot wrist having an offset and a method for orientating a robo

1992-12-07

1998-04-14

Hafiz, Tariq R.

395 80, 395 86, G05B 1500

Patent

active

057403295

ABSTRACT:
The present invention relates to a method of determining degrees of an angle between the rotational axes of each of three articulations constituting robot wrist, and more particularly to a method of determining kinematic parameters for robot wrist, wherein a method of determining twist angle between the rotational axes is improved so that robot wrist can orient arbitrarily without regard to position of robot arm when attaching robot wrist having an offset in which the rotational axes of three articulations do not coincide at one point, to the robot arm of an articulated type. According to the present invention, if finding a length l.sub.3 of articulation upper part of robot arm, a virtual length of upper articulation of robot arm (l.sub.3.sup.o) by using offset link length (d.sub.5) of robot wrist, and twist angle (.alpha..sub.4) and twist angle (.alpha..sub.5) by the invented formulas, the robot wrist composed of an offset can orient arbitrarily at any positions, whereby the conventional problems have been eliminated and the effects enabling to improve the orienting region of robot wrist have been obtained.

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.
"A new Technique of Eliminating Void in Workspace of a Manipulator with an Offset Wrist", K.S. Lee, J.H. Kim, K.W. Jeong.
Richard P. Paul and Charles N. Stevenson, "Kinematics of Robot Wrists", The International Journal of Robotics Research, vol.2 No. 1, Spring 1983.

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