Kinematics of a Robot with Continuous Roll Wrist

摘要

Some operational details of the zero reference position method are presented in the context of deriving kinematical equations for a robot with a nonspherical continuous roll wrist. In a continuous roll wrist, all of the wrist joints have unrestricted rotational degree of freedom. The wrist axes are configured such that there is no mechanical interference among the links of the wrist as the wrist variables change continuously in the ranges (0, 360 deg). There are several ways to induce the continuous roll feature in wrists and the author discusses two important ways. Keywords: Reprints. (kr)