Comparison of Wrist Joint Motion Limits in Commercial Six-Axis Industrial Robots

Author

Georgian-Alin Andrei, Bogdan Sofian


Abstract

 Industrial robots are widely used in manufacturing applications where tool orientation and positioning are important. This study compares the wrist joint motion limits of ten commercial six-axis industrial robot configurations from ABB, KUKA, Yaskawa, and FANUC. The analysis focuses on joints 4, 5, and 6 using technical specifications published by the manufacturers. Total angular motion ranges were compared using descriptive statistics. The results showed that axis 4 had motion ranges between 370° and 460°, with a mean of 414°. Axis 5 ranged from 240° to 360°, with a mean of 281°, while axis 6 ranged from 700° to 910°, with a mean of 785°. Axis 5 showed the largest relative difference between its minimum and maximum values. The findings provide a simple comparison of wrist joint mobility and may support preliminary robot selection based on angular motion requirements.


Keywords

Industrial Robots; Six-Axis Robots; Wrist Joints; Joint Motion Limits; Angular Range; Comparative Analysis.



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References


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