Design of a compliant parallel robotic wrist based on series elastic actuator
ZHANG Xiuli
XIA Xu
Abstract：By analyzing the structure and movement characteristics of the human wrist,3SPS-1S parallel mechanism is designed as the prototype for the compliant robotic wrist.The series elastic actuator(SEA) is introduced into three moving branch chains which serve as the driving parts to realize the compliance of parallel robotic wrist.The inverse kinematics is established and the Jacobi matrix is deduced based on the 3SPS-1S parallel mechanism and the method of determining the spring stiffness of the SEA module is put forward.Based on the thought of position compensation,the position and pose control of compliant wrist is achieved.Experiments have verified that the robotic wrist has passive compliance for unknown load,and that this robotic wrist can achieve higher active compliance by active compliance control.
Keywords：robotic wristparallel mechanismcomplianceseries elastic actuatorspring stiffness
Publication Date：2017-01-01
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：7( 104-110 )