Design of Large Motion Range and Heavy Duty 2-DOF Spherical Parallel Wrist Mechanism

摘要

Wrist mechanisms are important elements of robotic arms because they significantly affect the arm’s handling ability. Although various wrist mechanisms have been developed to date, a mechanism with a compact structure, a wide range of motion and a large load capacity has not yet been realized. Thus, in this paper, we propose 2-DOF Spherical Parallel (2DSP) mechanism, a heavy-duty wrist mechanism with a large motion range, and clarify its features both analytically and experimentally. The 2DSP mechanism is driven by a 2-DOF spherical parallel mechanism and is supported by a universal joint located at its center. This structure allows the 2DSP mechanism to realize a large motion range and load capacity and simplifies its kinematic analysis. Based on this analysis, we clarify the design process to maximize the motion range and propose a preferable structure of passive joints from the viewpoint of load capacity and production cost. We also describe the detailed design of a 2DSP mechanism for a rescue robot we developed previously and verify the feasibility of the proposed mechanism.