Design and development of a carpal wrist robotic manipulator
College
Gokongwei College of Engineering
Department/Unit
Mechanical Engineering
Document Type
Conference Proceeding
Source Title
2019 IEEE 11th International Conference on Humanoid, Nanotechnology, Information Technology, Communication and Control, Environment, and Management, HNICEM 2019
Publication Date
11-1-2019
Abstract
The purpose of this study is to develop a viable Carpal Wrist actuator that meets the demands of applications that require spherical pointing capabilities such as space applications (thrusters, thruster vectoring, solar panel orientation control, etc.) This study involves creating a robotic manipulator that has high torque and steady displacement by integrating geared stepper motors, and by utilizing MATLAB for verification of end effector orientation. The design of the Carpal Wrist actuator involves understanding its kinematics based on Dr. Anthony Ganino's master's thesis [2]. The fabrication of the design involves 3D printing the Carpal Wrist and the gearbox, which are then assembled and tested. Variable loading was applied on the end effector to determine the rated torque of the actuator. The end effector orientation was verified by comparing the simulation with the rotary sensor data. © 2019 IEEE.
html
Digitial Object Identifier (DOI)
10.1109/HNICEM48295.2019.9073534
Recommended Citation
Alvarez, J. R., Apolinar, M. G., Augusto, G. L., & Gan Lim, L. A. (2019). Design and development of a carpal wrist robotic manipulator. 2019 IEEE 11th International Conference on Humanoid, Nanotechnology, Information Technology, Communication and Control, Environment, and Management, HNICEM 2019 https://doi.org/10.1109/HNICEM48295.2019.9073534
Disciplines
Mechanical Engineering
Keywords
Robot wrists--Automatic control; Actuators
Upload File
wf_yes
