ByteWrist: A Parallel Robotic Wrist Enabling Flexible and Anthropomorphic Motion for Confined Spaces

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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.