A Compact, Lightweight and Singularity-Free Wrist Joint Mechanism for Humanoid Robots
Cornelius Klas,Tamim Asfour,Cornelius Klas,Tamim Asfour
Building humanoid robots with properties similar to those of humans in terms of strength and agility is a great and unsolved challenge. This work introduces a compact and lightweight wrist joint mechanism that is singularity-free and has large range of motion. The mechanism provides two degrees of freedom (DoF) and was developed for integration into a human scale humanoid robot arm. It is based on...
