Research Papers

A General Method for Kinematic Analysis of Robotic Wrist Mechanisms

[+] Author and Article Information
Ilie Talpasanu

Department of Mechanical Engineering,
Wentworth Institute of Technology,
550 Huntington Avenue,
Boston, MA 02115
e-mail: talpasanui@wit.edu

Manuscript received January 2, 2014; final manuscript received April 7, 2015; published online June 10, 2015. Assoc. Editor: Xilun Ding.

J. Mechanisms Robotics 7(3), 031021 (Aug 01, 2015) (11 pages) Paper No: JMR-14-1001; doi: 10.1115/1.4030466 History: Received January 02, 2014; Revised April 07, 2015; Online June 10, 2015

The paper presents a novel and simple technique for the kinematic analysis of bevel gear trains (BGT). The approach is based on edge-oriented graphs for efficient computation of BGT’s absolute and relative velocities of links using incidence matrices. The kinematic equations are generated in matrix form using a cycle basis from a cycle matroid. The set of independent equations is automatically obtained from matrix orthogonalities and not by taking derivatives. Equation coefficients are expressed as function of speed ratios and have minimal variables. Then the relationships between the output and input angular velocities can be determined. In addition, a simple procedure is demonstrated to check for mechanism singularities. The method presented here has general applicability and can be employed for spatial geared mechanisms with any number of gears and degrees of freedom (DOF) as illustrated by numerical examples of robotic wrist mechanisms.

Copyright © 2015 by ASME
Your Session has timed out. Please sign back in to continue.



Grahic Jump Location
Fig. 1

Bendix wrist mechanism

Grahic Jump Location
Fig. 2

(a) Digraph and (b) spanning tree

Grahic Jump Location
Fig. 4

Determination of scalars

Grahic Jump Location
Fig. 5

(a) Pairs along cycle CG, (b) pairs along cycle CH, and (c) pairs along cycle CI

Grahic Jump Location
Fig. 9

Calculation of coefficients along cycles: (a) CG, (b) CH, and (c) CI

Grahic Jump Location
Fig. 6

The Cincinnati Milacron wrist mechanism

Grahic Jump Location
Fig. 8

Cycle basis for Cincinnati Milacron mechanism

Grahic Jump Location
Fig. 7

(a) Digraph and (b) spanning tree




Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In