This paper deals with the virtual prototyping of a compliant robotic wrist that is aimed for use in a human-robot collaborative environment. The mobility of the wrist is provided by the use of two pairs of Compliant Transmission Elements (CTEs) actuated by servo-motors and tendon transmission. The virtual prototype of the wrist allows easy testing of the behaviour of the tendon transmission and provides an important aid in selecting the right servo-motors for each application. Index Terms—virtual prototyping, robotic wrist, compliant mechanism, collaborative robots
Virtual Prototyping of a Compliant Robotic Wrist
Mario Baggetta;Giovanni Berselli;
2021-01-01
Abstract
This paper deals with the virtual prototyping of a compliant robotic wrist that is aimed for use in a human-robot collaborative environment. The mobility of the wrist is provided by the use of two pairs of Compliant Transmission Elements (CTEs) actuated by servo-motors and tendon transmission. The virtual prototype of the wrist allows easy testing of the behaviour of the tendon transmission and provides an important aid in selecting the right servo-motors for each application. Index Terms—virtual prototyping, robotic wrist, compliant mechanism, collaborative robots
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