Analysis and Design of Robotic Manipulators with Multiple Interchangeable Wrists

Vassilios D. Tourassis, Marcelo H. Ang

Research output: Contribution to journalArticlepeer-review

7 Citations (Scopus)


Robotic applications are constrained by the type of wrist a robot uses. The concept of multiple interchangeable wrist mechanisms is introduced in this paper as a cost-effective, practical method to improve the flexibility of a robot system without increasing the complexity of the wrist design. The interchangeable wrist concept is a natural extension of interchangeable tooling. The objective of this paper is to determine the feasibility of the proposed concept for real-time applications. An analytical framework that incorporates the wrist-exchange procedure in the robot control hierarchy is presented for the case of manipulators with interchangeable spherical and nonspherical wrists. An algorithmic approach that utilizes the individual kinematic properties of the arm and the wrists is then developed to generate an efficient solution to the kinematic control problem of the coupled system.

Original languageEnglish
Pages (from-to)223-230
Number of pages8
JournalIEEE Transactions on Robotics and Automation
Issue number2
Publication statusPublished - Apr 1989

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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