NDLI: Design of a Spherical Wrist with Parallel Architecture: Application to Vertebrae of an Eel Robot

Content Provider	IEEE Xplore Digital Library
Author	Chablat, D. Wenger, P.
Copyright Year	2005
Description	Author affiliation: Institut de Recherche en Communications et Cybernétique de Nantes 1, rue de la Noë, BP 92101, 44321 Nantes Cedex 03 France, Damien.Chablat@irccyn.ec-nantes.fr (Chablat, D.)
Abstract	The design of a spherical wrist with parallel architecture is the object of this article. This study is part of a larger project, which aims to design and to build an eel robot for inspection of immersed piping. The kinematic analysis of the mechanism is presented first to characterize the singular configurations as well as the isotropic configurations. We add the design constraints related to the application, such as (i) the compactness of the mechanism, (ii) the symmetry of the elements in order to ensure static and dynamic balance and (iii) the possibility of the mechanism to fill the elliptic form of the ell sections.
Starting Page	3336
Ending Page	3341
File Size	363574
Page Count	6
File Format	PDF
ISBN	078038914X
DOI	10.1109/ROBOT.2005.1570625
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2005-04-18
Publisher Place	Spain
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Wrist Parallel architectures Spine Parallel robots Kinematics Biomimetics Aerodynamics Marine animals Propulsion Humanoid robots isotropic design Spherical wrist parallel robots
Content Type	Text
Resource Type	Article

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