Performance enhancement of a 3-DoF humanoid wrist: a dimensional optimization and experimental validation approach

Purpose Wrist mechanisms are crucial for enhancing dexterity and load capacity in humanoid robots, but traditional designs often fail to balance load strength and maneuverability. This study optimizes a previously introduced three-degree-of-freedom (3-DoF) wrist mechanism using a 2PSS-U + RUR parallel configuration. The primary purpose of this study is to conduct multi-objective optimization of geometric parameters to improve overall dexterity and force equilibrium performance, thereby advancing