Wrist movement and rotational stiffness determine the flexibility of the human hand, which are also critical in skillful manipulation scenarios. But few rotational stiffness extraction mechanisms can adjust based on the hand lengths of subjects. To solve this problem, this paper first proposes a 3-degree-of-freedom (DOF) spherical hybrid mechanism driving wrists to rotate in three dimensions which can adapt to different individuals. And then, forward and inverse kinematics analyses are derived according to the hybrid structure. Besides, the kinematics simulation is also carried out to validate the derivation. And the workspace of the mechanism is calculated which satisfies the motion range of human wrist joints and is larger than most existing writs motion mechanisms.


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    Title :

    A Novel 3-DOF Spherical Hybrid Mechanism for Wrist Movement: Design, Kinematics, and Simulation


    Additional title:

    Lect.Notes Computer


    Contributors:
    Yang, Huayong (editor) / Liu, Honghai (editor) / Zou, Jun (editor) / Yin, Zhouping (editor) / Liu, Lianqing (editor) / Yang, Geng (editor) / Ouyang, Xiaoping (editor) / Wang, Zhiyong (editor) / Yang, Jingbo (author) / Liao, Zhiwei (author)

    Conference:

    International Conference on Intelligent Robotics and Applications ; 2023 ; Hangzhou, China July 05, 2023 - July 07, 2023



    Publication date :

    2023-10-21


    Size :

    12 pages




    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English





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