A mechatronic wrist unit for precision tasks

Abstract

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. Research articles A mechatronic wrist unit for precision tasksThis research was partly funded by a grant from the Australian Research Council (ARC) and a grant from the Monash Research Fund (MRF). The author also wishes to thank D. Thompson, D. Tull, and D. Kwok for their part in the development of the mechatronic wrist unit.