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

• Direct driven differential drive with 2 DOFs, Tesla bot wrist,
  
  

• Possible improvement for the Tesla bot wrist design: (found in a youtube video with Scott Walter)
  Left is the original design, were the pistons are moving. On the right side, the piston is fixed, but an additinal linkage is moving.

  Open

  

   

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

Open

• Cable drive with 3 DOFs, LIMS

• Direct driven 2 DOFs, Phoenix

Open

• Cable driven differential drive with 2 DOFs

• 3D printed differential robot arm wrist

Open