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.
eng
dc.format.mimetype
application/pdf
dc.language.iso
eng
dc.publisher
Slovenská technická univerzita, materiálovo-technologická fakulta
