Abstract
The paper presents a three DOF mechanical wrist that is capable to control its joint stiffness as well as joint angle by using the ANLES (Actuator with Non-Linear Elastic System). First it describes the structure of the ANLES followed by the designing method of the non-linear elasticity. Subsequently it shows the second machine of the wrist joint controlled by the ANLES of which size and weight are downsized nearly a half compared to the first machine. Next it presents a new ANLES (we call V-ANLES) that has a viscosity to suppress vibrations caused by the elasticity. It follows the experimental results of the step-response of the joint to show the V-ANLES successfully diminishes the overshoot. Finally it shows the experimental results to rotate the wrist joint about Z-axis by using the four ANLES.
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