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This paper investigates the influence of wrist design on the inverse kinematics of robots with 6 degrees of freedom (DOF), comparing roll-bend-twist (RBT) and bend-roll-twist (BRT). The analytical inverse kinematics were derived for both designs, focusing on the robot’s working envelope and the avoidance of irregularities. Autodesk Inventor and Python were used to visualize and evaluate performance metrics, including workspace coverage and workspace flexibility. The manipulability parameters highlight the strengths of both wrists and show that neither wrist consistently outperforms the other.

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The Influence of Wrist Design on the Inverse Kinematics of a 6-Axis Robot

  • 会议论文

  • 发表日期：

    2025年

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  • Boštjan Baras,
  • Marko Munih

摘要

This paper investigates the influence of wrist design on the inverse kinematics of robots with 6 degrees of freedom (DOF), comparing roll-bend-twist (RBT) and bend-roll-twist (BRT). The analytical inverse kinematics were derived for both designs, focusing on the robot’s working envelope and the avoidance of irregularities. Autodesk Inventor and Python were used to visualize and evaluate performance metrics, including workspace coverage and workspace flexibility. The manipulability parameters highlight the strengths of both wrists and show that neither wrist consistently outperforms the other.