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Kinematics of hooke universal joint robot wrists
| Content Provider | NASA Technical Reports Server (NTRS) |
|---|---|
| Author | McKinney Jr., William S. |
| Copyright Year | 1988 |
| Description | The singularity problem associated with wrist mechanisms commonly found on industrial manipulators can be alleviated by redesigning the wrist so that it functions as a three-axis gimbal system. This paper discussess the kinematics of gimbal robot wrists made of one and two Hooke universal joints. Derivations of the resolved rate motion control equations for the single and double Hooke universal joint wrists are presented using the three-axis gimbal system as a theoretical wrist model. |
| File Size | 823016 |
| Page Count | 33 |
| File Format | |
| Alternate Webpage(s) | http://archive.org/details/NASA_NTRS_Archive_19880017486 |
| Archival Resource Key | ark:/13960/t8nd0vd6n |
| Language | English |
| Publisher Date | 1988-06-01 |
| Access Restriction | Open |
| Subject Keyword | Cybernetics Industries Wrist Rates Per Time Translational Motion Joints Junctions Gimbals Control Systems Design Three Axis Stabilization Kinematics Manipulators Hookes Law Robotics Ntrs Nasa Technical Reports ServerĀ (ntrs) Nasa Technical Reports Server Aerodynamics Aircraft Aerospace Engineering Aerospace Aeronautic Space Science |
| Content Type | Text |
| Resource Type | Technical Report |