Study on Structure Design and Motion Characteristics of Pneumatic Flexible Wrist with Braking Function

Figure 3

Structure, functions, and force analysis of the flexible wrist: (a) initial state (p₁ = p₂ = p₃ = p₄ = 0); (b) bending deformation around the X axis (p₁ = p₂ = p; p₃ = p₄ = 0); (c) force analysis of the wrist.

(a)

(b)

(c)