ByteWrist: A Parallel Robotic Wrist Enabling Flexible and Anthropomorphic Motion for Confined Spaces
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arXiv
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| Main Authors: | , , , , , , |
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| Format: | Preprint |
| Published: |
2025
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| _version_ | 1866918147055943680 |
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| author | Tian, Jiawen Huang, Liqun Cui, Zhongren Qiao, Jingchao Xu, Jiafeng Ma, Xiao Ren, Zeyu |
| author_facet | Tian, Jiawen Huang, Liqun Cui, Zhongren Qiao, Jingchao Xu, Jiafeng Ma, Xiao Ren, Zeyu |
| contents | This paper introduces ByteWrist, a novel highly-flexible and anthropomorphic parallel wrist for robotic manipulation. ByteWrist addresses the critical limitations of existing serial and parallel wrists in narrow-space operations through a compact three-stage parallel drive mechanism integrated with arc-shaped end linkages. The design achieves precise RPY (Roll-Pitch-Yaw) motion while maintaining exceptional compactness, making it particularly suitable for complex unstructured environments such as home services, medical assistance, and precision assembly. The key innovations include: (1) a nested three-stage motor-driven linkages that minimize volume while enabling independent multi-DOF control, (2) arc-shaped end linkages that optimize force transmission and expand motion range, and (3) a central supporting ball functioning as a spherical joint that enhances structural stiffness without compromising flexibility. Meanwhile, we present comprehensive kinematic modeling including forward / inverse kinematics and a numerical Jacobian solution for precise control. Empirically, we observe ByteWrist demonstrates strong performance in narrow-space maneuverability and dual-arm cooperative manipulation tasks, outperforming Kinova-based systems. Results indicate significant improvements in compactness, efficiency, and stiffness compared to traditional designs, establishing ByteWrist as a promising solution for next-generation robotic manipulation in constrained environments. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2509_18084 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | ByteWrist: A Parallel Robotic Wrist Enabling Flexible and Anthropomorphic Motion for Confined Spaces Tian, Jiawen Huang, Liqun Cui, Zhongren Qiao, Jingchao Xu, Jiafeng Ma, Xiao Ren, Zeyu Robotics This paper introduces ByteWrist, a novel highly-flexible and anthropomorphic parallel wrist for robotic manipulation. ByteWrist addresses the critical limitations of existing serial and parallel wrists in narrow-space operations through a compact three-stage parallel drive mechanism integrated with arc-shaped end linkages. The design achieves precise RPY (Roll-Pitch-Yaw) motion while maintaining exceptional compactness, making it particularly suitable for complex unstructured environments such as home services, medical assistance, and precision assembly. The key innovations include: (1) a nested three-stage motor-driven linkages that minimize volume while enabling independent multi-DOF control, (2) arc-shaped end linkages that optimize force transmission and expand motion range, and (3) a central supporting ball functioning as a spherical joint that enhances structural stiffness without compromising flexibility. Meanwhile, we present comprehensive kinematic modeling including forward / inverse kinematics and a numerical Jacobian solution for precise control. Empirically, we observe ByteWrist demonstrates strong performance in narrow-space maneuverability and dual-arm cooperative manipulation tasks, outperforming Kinova-based systems. Results indicate significant improvements in compactness, efficiency, and stiffness compared to traditional designs, establishing ByteWrist as a promising solution for next-generation robotic manipulation in constrained environments. |
| title | ByteWrist: A Parallel Robotic Wrist Enabling Flexible and Anthropomorphic Motion for Confined Spaces |
| topic | Robotics |
| url | https://arxiv.org/abs/2509.18084 |