Although bevel-gear wrists are widely used in industrial manipulators due to their simple kinematics and low manufacturing cost, their gear trains function under rolling and sliding, the latter bringing about noise and vibration. Sliding is inherent to the straight teeth of the bevel gears of these trains. Moreover, un-avoidable backlash introduces unmodeled dynamics, which mars robot performance. To alleviate these drawbacks, a gearless pitch-roll wrist is currently under design for low backlash and high stiffness. The wrist consists of spherical cam-rollers and spherical Stephenson linkages; two roller-carrying disks drive a combination of cams and Stephenson mechanisms rotating as a differential mechanism. In this paper, the design of the chain of spherical Stephenson mechanisms (SSMs) is introduced. The problem of the dimensional synthesis is addressed and interference avoidance is discussed. An embodiment of the concept is also included.
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ASME 2004 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
September 28–October 2, 2004
Salt Lake City, Utah, USA
Conference Sponsors:
- Design Engineering Division and Computers and Information in Engineering Division
ISBN:
0-7918-4695-4
PROCEEDINGS PAPER
The Design of a Chain of Spherical Stephenson Mechanisms for a Gearless Pitch-Roll Wrist
S. Herna´ndez,
S. Herna´ndez
McGill University, Montreal, Quebec, Canada
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S. P. Bai,
S. P. Bai
McGill University, Montreal, Quebec, Canada
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J. Angeles
J. Angeles
McGill University, Montreal, Quebec, Canada
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S. Herna´ndez
McGill University, Montreal, Quebec, Canada
S. P. Bai
McGill University, Montreal, Quebec, Canada
J. Angeles
McGill University, Montreal, Quebec, Canada
Paper No:
DETC2004-57424, pp. 1129-1138; 10 pages
Published Online:
June 27, 2008
Citation
Herna´ndez, S, Bai, SP, & Angeles, J. "The Design of a Chain of Spherical Stephenson Mechanisms for a Gearless Pitch-Roll Wrist." Proceedings of the ASME 2004 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. Volume 2: 28th Biennial Mechanisms and Robotics Conference, Parts A and B. Salt Lake City, Utah, USA. September 28–October 2, 2004. pp. 1129-1138. ASME. https://doi.org/10.1115/DETC2004-57424
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