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.
A Novel 3-DOF Spherical Hybrid Mechanism for Wrist Movement: Design, Kinematics, and Simulation
Lect.Notes Computer
International Conference on Intelligent Robotics and Applications ; 2023 ; Hangzhou, China July 05, 2023 - July 07, 2023
2023-10-21
12 pages
Article/Chapter (Book)
Electronic Resource
English
Wrist stiffness , Spherical hybrid mechanism , Kinematics Computer Science , Artificial Intelligence , Software Engineering/Programming and Operating Systems , Computer Applications , Computer Communication Networks , Special Purpose and Application-Based Systems , User Interfaces and Human Computer Interaction
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