Wrist redesign

Requirements

• 3 DOFs: To easily control end effector orientation the wrist should be able to rotate the end effector with 3 DOFs, there is already one in the lower arm rotation, 2 more DOFs should be controlled with the new wrist

• Cable driven: the wrist is the joint at the end of the arm, any added weight will be a serious hinder to shoulder and elbow lifting capabilities, thus wrist should be cable driven not direct driven

Design examples

• Vertual sphere joint with 3 DOFs, awrist

Open

• Dirrect driven differential drive with 2 DOFs, Tesla bot wrist,
  How the Teslabot Optimus Wrist mechanism works.

• Direct driven differential drive with 2 DOFs and 1 at lower arm rotation, FIGURE 02

Open

• Cable drive with 3 DOFs, LIMS

LIMS, the Fast and Safe Robot Arm - Wrist Mechanism

• Direct driven 2 DOFs, Phoenix

Open

• Cable driven differential drive with 2 DOFs

Cable driven differential wrist for robot hand