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Wrist section overhaul #328

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merged 5 commits into from
Nov 30, 2023
Merged

Wrist section overhaul #328

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Lawproto Nov 30, 2023
832e439
image path fix
Lawproto Nov 30, 2023
5966b89
adding note
Lawproto Nov 30, 2023
75b77cd
switching to capital letters for better clarity
Lawproto Nov 30, 2023
f6d25a0
Update docs/wrists/wrist_mk2.md
pattacini Nov 30, 2023
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19 changes: 14 additions & 5 deletions docs/wrists/wrist_mk2.md
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Expand Up @@ -12,10 +12,17 @@

| Joint number | Motors | Identifier | Type | Parent link | Child link | Mk2.0 lower limit | Mk2.0 upper limit | Mk2.1 low. l. | Mk2.1 upp. l. | Notes |
|--------------|--------|---------------|------|-------------|-------------|-------------------|-------------------|---------------|---------------|--------------|
| | | l_elbow | ROT | l_upperarm | l_forearm | - | - | - | - | E1 in fig. |
| | | l_wrist_yaw | ROT | l_forearm | l_wrist_1 | -92° | 92° | -92° | 92° | W1 in fig. |
| | | l_wrist_roll | ROT | l_wrist_1 | l_wrist_2 | -62° | 52° | -33° | 40° | W2 in fig. |
| | | l_wrist_pitch | ROT | l_wrist_2 | l_hand_palm | -32° | 32° | -20° | 20° | W3 in fig. |
| | | l_elbow | ROT | l_upperarm | l_forearm | - | - | - | - | E1L in fig. |
| | | l_wrist_yaw | ROT | l_forearm | l_wrist_1 | -92° | 92° | -92° | 92° | W1L in fig. |
| | | l_wrist_roll | ROT | l_wrist_1 | l_wrist_2 | -62° | 52° | -33° | 40° | W2L in fig. |
| | | l_wrist_pitch | ROT | l_wrist_2 | l_hand_palm | -32° | 32° | -20° | 20° | W3L in fig. |
| | | | | | | | | | |
| | | r_elbow | ROT | r_upperarm | r_forearm | - | - | - | - | E1R in fig. |
| | | r_wrist_yaw | ROT | r_forearm | r_wrist_1 | - | - | -92° | 92° | W1R in fig. |
| | | r_wrist_roll | ROT | r_wrist_1 | r_wrist_2 | - | - | -40° | 33° | W2R in fig. |
| | | r_wrist_pitch | ROT | r_wrist_2 | r_hand_palm | - | - | -20° | 20° | W3R in fig. |



<p align="center">
<img src= "../img/pitches.png"
Expand All @@ -33,4 +40,6 @@
</p>
<p align="center">
<sub>Wrist Mk2 and Elbow joints 2/2</sub>
</p>
</p>

> **Note:** rotation signs follow the right-hand rule according to the reference system in figure.
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