Study of Motor-driven Industrial Robot Wrist
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This report is devoted to study of conception of motor-driven wrist of industrial robots and manipulators. Research is focused on design of motor-driven wrist module aimed at increasing number of degrees of freedom of effector. Study includes varieties with serial, parallel and combined kinematical structure. All three concepts have at least three degrees of freedom; it handles always about three rotary motions. Increased number of degrees of freedom brings new possibilities of effector positioning, which also increases manipulability of whole positioning appliance and its use value.
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