TY  - JOUR
AB  - Notes that there are many areas where fine positioning of a robotic device carrying a specialized end‐effector is required. Describes a mechatronic wrist unit with fine motion capabilities for such applications. The wrist unit was designed as a four‐axis system with three revolute and one prismatic. The implementation is carried out in two stages. In the first stage, one prismatic axis and one revolute axis are implemented. Focuses attention on the underlying techniques for the development of this wrist unit given the requirements for weight and accuracy. Also describes the actuation mechanism and control strategies for the mechatronic wrist unit. Also presents the results of the experiments carried out for performance analysis.
VL  - 24
IS  - 6
SN  - 0143-991X
DO  - 10.1108/01439919710192653
UR  - https://doi.org/10.1108/01439919710192653
AU  - Shirinzadeh Bijan
PY  - 1997
Y1  - 1997/01/01
TI  - A mechatronic wrist unit for precision tasks
T2  - Industrial Robot: An International Journal
PB  - MCB UP Ltd
SP  - 446
EP  - 451
Y2  - 2024/04/24
ER  -