To determine a suitable kinematic structure for a specific application is a complex task. Some available methods may provide a list of possible architectures for a robot wrist. However, a systematic method for selecting one among others is still an open problem. The paper presents a qualitative procedure for topological synthesis based on criteria that consider wrist design requirements and parallel mechanism peculiarities. The performance of chosen topology is evaluated according to desired requirements.

Issue Section:
Research Papers
Keywords:
manipulator kinematics, design engineering
Topics:
Architecture, Design, Kinematics, Topology, Parallel mechanisms, Actuators, Robots
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Copyright © 2006
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