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Robotics 2019, 8(1), 11; https://doi.org/10.3390/robotics8010011

A Comparison of Robot Wrist Implementations for the iCub Humanoid

1
iCub Facility, Fondazione Istituto Italiano di Tecnologia, 16163 Genova GE, Italy
2
Dipartimento di Informatica, Bioingegneria, Robotica ed Ingegneria dei Sistemi [DIBRIS], Universitá degli Studi di Genova, 16145 Genova GE, Italy
3
Department of Industrial Engineering, University of Bologna, 40136 Bologna BO, Italy
*
Author to whom correspondence should be addressed.
This paper is an extended version of our paper published in the Proceedings of the 2018 4th IFToMM Symposium on Mechanism Design for Robotics, Udine, Italy, 11–13 September 2018; titled Comparison of Workspace Analysis for Different Spherical Parallel Mechanisms; pp. 193–201.
Current address: Via San Quirico 19, 16163 Genova, Italy.
Received: 21 January 2019 / Revised: 9 February 2019 / Accepted: 13 February 2019 / Published: 17 February 2019
(This article belongs to the Special Issue Mechanism Design for Robotics)
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Abstract

This article provides a detailed comparative analysis of five orientational, two degrees of freedom (DOF) mechanisms whose envisioned application is the wrist of the iCub humanoid robot. Firstly, the current iCub mk.2 wrist implementation is presented, and the desired design objectives are proposed. Prominent architectures from literature such as the spherical five-bar linkage and spherical six-bar linkage, the OmniWrist-III and the Quaternion joint mechanisms are modeled and analyzed for the said application. Finally, a detailed comparison of their workspace features is presented. The Quaternion joint mechanism emerges as a promising candidate from this study. View Full-Text
Keywords: robot wrists; spherical parallel mechanism; orientational mechanisms; computer-aided design; workspace analysis; iCub robot wrists; spherical parallel mechanism; orientational mechanisms; computer-aided design; workspace analysis; iCub
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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited (CC BY 4.0).
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Shah, D.; Wu, Y.; Scalzo, A.; Metta, G.; Parmiggiani, A. A Comparison of Robot Wrist Implementations for the iCub Humanoid . Robotics 2019, 8, 11.

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