NASA NTRS · 19920000621
Compliant Robot Wrist
Abstract
Compliant element for robot wrist accepts small displacements in one direction only (to first approximation). Three such elements combined to obtain translational compliance along three orthogonal directions, without rotational compliance along any of them. Element is double-blade flexure joint in which two sheets of spring steel attached between opposing blocks, forming rectangle. Blocks moved parallel to each other in one direction only. Sheets act as double cantilever beams deforming in S-shape, keeping blocks parallel.
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Voellmer, George. 1992-10-01. Compliant Robot Wrist. https://ntrs.nasa.gov/citations/19920000621
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