Song, Mingxuan;
Zhang, Morgan;
Lyu, Anxu;
Bao, Lingfan;
Peng, Tianhu;
Zhou, Chengxu;
(2025)
OmniDexter: A Modular Tendon-Driven Robotic Wrist with Enhanced Precision and Versatility.
In:
(Proceedings) The 7th UK Robot Manipulation Workshop.
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Abstract
This work presents OmniDexter, a novel tendon-driven robotic wrist integrating three degrees of freedom (DoF) with an innovative mechanism to enable an additional external DoF. The design tackles the inherent challenges of elliptical wrist motion, which complicates $z$-axis alignment and hinders the integration of extra DoFs. By introducing a unique anti-parallelogram structure with passive prismatic joints, OmniDexter achieves precise approximation of elliptical motion as circular, enhancing stability and control under high-payload conditions. This approach facilitates seamless adaptation to various end-effectors, significantly expanding the versatility and functionality of robotic arms in demanding applications.
| Type: | Proceedings paper |
|---|---|
| Title: | OmniDexter: A Modular Tendon-Driven Robotic Wrist with Enhanced Precision and Versatility |
| Event: | The 7th UK Robot Manipulation Workshop |
| Location: | London |
| Open access status: | An open access version is available from UCL Discovery |
| Publisher version: | https://www.robot-manipulation.uk/past-workshops |
| Language: | English |
| Additional information: | This version is the author accepted manuscript. For information on re-use, please refer to the publisher’s terms and conditions. |
| UCL classification: | UCL UCL > Provost and Vice Provost Offices > UCL BEAMS UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science > Dept of Computer Science |
| URI: | https://discovery.ucl.ac.uk/id/eprint/10211146 |
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