ByteWrist: A Parallel Robotic Wrist Enabling Flexible and
  Anthropomorphic Motion for Confined Spaces
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. Meanwhile, we present comprehensive kinematic
modeling including forward / inverse kinematics and a numerical Jacobian
solution for precise control. Empirically, we observe ByteWrist demonstrates
strong performance in narrow-space maneuverability and dual-arm cooperative
manipulation tasks, outperforming Kinova-based systems. Results indicate
significant improvements in compactness, efficiency, and stiffness compared to
traditional designs, establishing ByteWrist as a promising solution for
next-generation robotic manipulation in constrained environments.
68d201a61ca7156988a8ec95
Jiawen Tian
68d201a61ca7156988a8ec96
Liqun Huang
68d201a61ca7156988a8ec97
Zhongren Cui
claimed_verified
2025-09-23T02:40:28.782Z
68d206c0a6f8ea66da0d416d
https://cdn-avatars.huggingface.co/v1/production/uploads/no-auth/bcKpFMN2HwqTB41CDFJGP.png
czr
user
cuizhongren
68d201a61ca7156988a8ec98
Jingchao Qiao
68d201a61ca7156988a8ec99
Jiafeng Xu
68d201a61ca7156988a8ec9a
Xiao Ma
68d201a61ca7156988a8ec9b
Zeyu Ren
ByteWrist: A Parallel Robotic Wrist Enabling Flexible and
  Anthropomorphic Motion for Confined Spaces
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. Meanwhile, we present comprehensive kinematic
modeling including forward / inverse kinematics and a numerical Jacobian
solution for precise control. Empirically, we observe ByteWrist demonstrates
strong performance in narrow-space maneuverability and dual-arm cooperative
manipulation tasks, outperforming Kinova-based systems. Results indicate
significant improvements in compactness, efficiency, and stiffness compared to
traditional designs, establishing ByteWrist as a promising solution for
next-generation robotic manipulation in constrained environments.