TY - JOUR
AU - Pennestrì, Ettore
AB - Geared robotic wrists are often mounted on heavy duty robots with high dexterity. Although these devices have only recently been adopted in industrial practice, systematic studies on their kinematic structure and design methodologies have already been initiated. In this paper parametric equations, to be used for the automated kinematic analysis of such mechanical systems, have been deduced. The formulation of the method is quite general and is based on the graph representation of a kinematic structure.
TI - On the kinematic analysis of geared robotic wrists
JO - Meccanica
DO - 10.1007/BF00429883
DA - 2004-09-23
UR - https://www.deepdyve.com/lp/springer-journals/on-the-kinematic-analysis-of-geared-robotic-wrists-jSIB7dGVo7
SP - 155
EP - 160
VL - 26
IS - 3
DP - DeepDyve
ER -