PDF - University of Maryland
PDF - University of Maryland
PDF - University of Maryland
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Pitch<br />
test.col.pp4<br />
180°<br />
135°<br />
90°<br />
45°<br />
0°<br />
-45°<br />
-90°<br />
-135°<br />
-180°<br />
Wrist Workspace Evolution<br />
3-DOF Wrist<br />
-180° -135° -90° -45° 0° 45° 90° 135° 180°<br />
Yaw<br />
Yaw, Wrist Roll, Hand Roll<br />
Pitch<br />
180°<br />
135°<br />
90°<br />
45°<br />
0°<br />
-45°<br />
-90°<br />
-135°<br />
-180°<br />
-180° -135° -90° -45° 0° 45° 90° 135° 180°<br />
- Workspace<br />
Orthogonal 4-DOF Wrist<br />
Yaw<br />
- Tool aligned with second link<br />
Yaw, Wrist Roll<br />
Yaw<br />
- Single singularity: redundancy lost in one or more axis;<br />
constrained axes are indicated<br />
- Double singularity; wrist drops to 2-DOF<br />
Hand Roll, Pitch<br />
Hand Roll, Pitch<br />
Pitch<br />
180°<br />
135°<br />
90°<br />
45°<br />
0°<br />
-45°<br />
-90°<br />
-135°<br />
-180°<br />
Skew 4-DOF Wrist<br />
-180° -135° -90° -45° 0° 45° 90° 135° 180°<br />
Yaw<br />
Yaw, Wrist Roll<br />
Hand Roll<br />
Pitch<br />
Yaw<br />
Hand Roll<br />
Space Systems Laboratory<br />
<strong>University</strong> <strong>of</strong> <strong>Maryland</strong>