{"ID":2867881,"CreatedAt":"2026-06-01T04:54:23.091178241Z","UpdatedAt":"2026-06-01T04:54:23.091178241Z","DeletedAt":null,"paper_url":"https://arxiv.org/abs/2509.18084","arxiv_id":"2509.18084","title":"ByteWrist: A Parallel Robotic Wrist Enabling Flexible and Anthropomorphic Motion for Confined Spaces","abstract":"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.","short_abstract":"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 linka...","url_abs":"https://arxiv.org/abs/2509.18084","url_pdf":"https://arxiv.org/pdf/2509.18084v2","authors":"[\"Jiawen Tian\",\"Liqun Huang\",\"Zhongren Cui\",\"Jingchao Qiao\",\"Jiafeng Xu\",\"Xiao Ma\",\"Zeyu Ren\"]","published":"2025-09-22T17:57:07Z","proceeding":"cs.RO","tasks":"[\"cs.RO\"]","methods":"[]","has_code":false}