RepRec orienter - Revision history

Apm at 19:07, 19 June 2026

2026-06-19T19:07:04Z

← Older revision		Revision as of 21:07, 19 June 2026
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			{{RepRec}}
	{{wikitodo\|Scan and add sketches in here.}}		{{wikitodo\|Scan and add sketches in here.}}

Apm: /* Related */

2026-06-19T19:05:04Z

← Older revision		Revision as of 21:05, 19 June 2026
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	== Related ==		== Related ==

			* Up: [[RepRec]] & [[RepRec pick-and-place robots]]
			----
	* [[RepRec nested axles]]		* [[RepRec nested axles]]
	* [[RepRec inspiration sources]]		* [[RepRec inspiration sources]]

Apm: /* Related */

2026-06-19T19:02:49Z

← Older revision		Revision as of 21:02, 19 June 2026
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	{{Category:RepRec}}		{{Category:RepRec}}
	<small>Page started (off wiki): 2018-10-28 Thursday.</small> <br>		<small>Page started (off wiki): 2018-10-28 Thursday.</small> <br>

			== External links ==

			* https://commons.wikimedia.org/wiki/File:Positioning_goniometer_stage.jpg
			* https://commons.wikimedia.org/wiki/File:Tracta_Constant_Velocity_Joint.jpg

Apm: /* Motion threading as especially hard problem for the section through the orienter/wrist */ added link to page Through joint mechanical motion threading

2026-06-19T18:59:23Z

Motion threading as especially hard problem for the section through the orienter/wrist: added link to page Through joint mechanical motion threading

← Older revision		Revision as of 20:59, 19 June 2026
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	* macroscale: bad motor mass, nanoscale: crippling motor volume		* macroscale: bad motor mass, nanoscale: crippling motor volume
	* macroscale: messy cable wiring; nanoscale: bending nanowires changes electrical properties & one gets ballistic electron transport & chemical is physical just like mechanical is		* macroscale: messy cable wiring; nanoscale: bending nanowires changes electrical properties & one gets ballistic electron transport & chemical is physical just like mechanical is

			Related: [[Through joint mechanical motion threading]]

	== Inspiring sources ==		== Inspiring sources ==

Apm: /* Inspiring sources */ added File:640px-Positioning goniometer stage.jpg

2026-06-19T18:58:19Z

Inspiring sources: added File:640px-Positioning goniometer stage.jpg

← Older revision		Revision as of 20:58, 19 June 2026
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	Related: [[Assembly line orienting stage]] <br>		Related: [[Assembly line orienting stage]] <br>

	~~{{wikitodo~~\|~~Add image~~.}}		[[File:640px-Positioning goniometer stage.jpg\|200px\|thumb\|center\|One axis goniometer stage (Zaber Technologies Inc.)]]

	⭐ 90° differential gearbox inspired robot wrist like in this robot: <br>		⭐ 90° differential gearbox inspired robot wrist like in this robot: <br>

Apm: /* Inspiring sources */ added File:Fanuc deltabot robot wrist.jpg

2026-06-19T18:56:22Z

Inspiring sources: added File:Fanuc deltabot robot wrist.jpg

← Older revision		Revision as of 20:56, 19 June 2026
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	Basically [[RepRec axle onion]] where at every turn the outermost tubular axle ends in driving all of the downstream kinematics. <br>		Basically [[RepRec axle onion]] where at every turn the outermost tubular axle ends in driving all of the downstream kinematics. <br>

	~~{{wikitodo~~\|~~Add image.}}~~		[[File:Fanuc deltabot robot wrist.jpg\|200px\|thumb\|center\|Fanuc deltabot robot wrist]]

	The last points to a class of [[RepRec nested axles]] based [[RepRec orienter]]s		The last points to a class of [[RepRec nested axles]] based [[RepRec orienter]]s

Apm: /* Inspiring sources */ added Conical_gear_differential_wrist_mechanism.jpeg

2026-06-19T18:51:02Z

Inspiring sources: added Conical_gear_differential_wrist_mechanism.jpeg

← Older revision		Revision as of 20:51, 19 June 2026
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	CC-BY-3.0 paper: https://iopscience.iop.org/article/10.1088/1757-899X/294/1/012079/pdf <br>		CC-BY-3.0 paper: https://iopscience.iop.org/article/10.1088/1757-899X/294/1/012079/pdf <br>

	~~{{wikitodo~~\|~~Add image.}}~~		[[File:Conical_gear_differential_wrist_mechanism.jpeg\|200px\|thumb\|center\|conical gear differential wrist mechanism]]

	⭐ Fanuc robot wrist: <br>		⭐ Fanuc robot wrist: <br>

Apm: /* Inspiring sources */ added link to page Assembly line orienting stage

2026-06-19T18:41:52Z

Inspiring sources: added link to page Assembly line orienting stage

← Older revision		Revision as of 20:41, 19 June 2026
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	– they allow for high angles with accordingly adapted designs (unlike e.g. very stiff Steward platforms) <br>		– they allow for high angles with accordingly adapted designs (unlike e.g. very stiff Steward platforms) <br>
	– slightly easier mechanics in gearing (unlike the conical gear differential wrist below) <br>		– slightly easier mechanics in gearing (unlike the conical gear differential wrist below) <br>
			Related: [[Assembly line orienting stage]] <br>

	{{wikitodo\|Add image.}}		{{wikitodo\|Add image.}}

Apm: /* Inspiring sources */

2026-06-19T18:40:58Z

Inspiring sources

← Older revision		Revision as of 20:40, 19 June 2026
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	== Inspiring sources ==		== Inspiring sources ==

	⭐ ~~Goiniometer~~ stages but stacked. <br>		⭐ Goniometer stages but stacked. <br>
	<small>(Side-note: These are positioning stages not measurement devices despite the name.)</small> <br>		<small>(Side-note: These are positioning stages not measurement devices despite the name.)</small> <br>
	These seem especially suitable as <br>		These seem especially suitable as <br>

Apm: migrated page over from desktop wiki + cleanup and quite a bit of extensions

2026-06-19T18:38:14Z

migrated page over from desktop wiki + cleanup and quite a bit of extensions

New page

{{wikitodo|Scan and add sketches in here.}}

'''It provides the 3 rotative DOFs.''' 
The "orienter" (also called "wrist") is the part in the motion stage / kinematic chain 
that is tasked with imparting the orientation (3 rotative degrees of freedom) 
on everything further downstream the kinematic chain. <nr>

'''Downstream the kinematic chain:'''
* [[RepRec poser to tool interface]] (the orientier is the downstream patt of the poser thus poser)
* [[RepRec tool to poser interface]]
* [[RepRec end-effector]]
* end-effector to picked part interface
'''Upstream the kinematic chain:'''
* [[RepRec positioner]]
* The motion system of the [[RepRec cawler]] (possibly indirected to a dedicated [[RepRec unit carrier unit]])

It is desirable to have the orienter/wrist 
being agnostic to the choice of the [[RepRec positioner]]

== Crossing rotation axes ==

If the three rotation axes are not crossing through a single common point then the delineation to the [[RepRec positioner]] 
is not as good and the [[RepRec positioner]] needs to compensate for motions caused by the rotations with some math. 
The centers of the pick-n-placed of different sizes will be off even if there is a common rotation center any way 
so it's nit that severe for the pick-n-place application case. 

== Motion threading as especially hard problem for the section through the orienter/wrist ==

Since one likely wants at least one actuated DOF 
for the [[RepRec end-effector]] there is a need for 
– '''[[RepRec through joint motion threading]] 
– (= rotative [[RepRec action transmission]])''' 
which makes the already hard problem even harder.

Motors on the end-effectors are a non option for [[RepRec]] systems.
* macroscale: bad motor mass, nanoscale: crippling motor volume
* macroscale: messy cable wiring; nanoscale: bending nanowires changes electrical properties & one gets ballistic electron transport & chemical is physical just like mechanical is

== Inspiring sources ==

⭐ Goiniometer stages but stacked. 
(Side-note: These are positioning stages not measurement devices despite the name.) 
These seem especially suitable as 
– they provide very high stiffness and 
– they allow for high angles with accordingly adapted designs (unlike e.g. very stiff Steward platforms) 
– slightly easier mechanics in gearing (unlike the conical gear differential wrist below) 

{{wikitodo|Add image.}}

⭐ 90° differential gearbox inspired robot wrist like in this robot: 
CC-BY-3.0 paper: https://iopscience.iop.org/article/10.1088/1757-899X/294/1/012079/pdf 

{{wikitodo|Add image.}}

⭐ Fanuc robot wrist: 
2021-04-19 –– 0.5mm pencil lead insertion M-1iA/0.5A (6 axes) 
https://www.youtube.com/watch?v=QjVjQOvG33E 
Due to the [[RepRec no small parts design restriction]] the design would likely need to be modified quite a bit … 
Basically [[RepRec axle onion]] where at every turn the outermost tubular axle ends in driving all of the downstream kinematics. 

{{wikitodo|Add image.}}

The last points to a class of [[RepRec nested axles]] based [[RepRec orienter]]s

== Related ==

* [[RepRec nested axles]]
* [[RepRec inspiration sources]]
* '''Up: [[RepRec system topology]]'''
----
{{Category:RepRec}}
Page started (off wiki): 2018-10-28 Thursday.