Topological Synthesis of a Parallel Wrist Mechanism

Abstract

To determine a suitable kinematic structure for a specific application is a complex task. Some available methods may provide a list of possible architectures for a robot wrist. However, a systematic method for selecting one among others is still an open problem. The paper presents a qualitative procedure for topological synthesis based on criteria that consider wrist design requirements and parallel mechanism peculiarities. The performance of chosen topology is evaluated according to desired requirements.