Kinematic Analysis of a Partially Decoupled 3-DOF Parallel Wrist

Kinematic Analysis of a Partially Decoupled 3-DOF Parallel Wrist

A unique spherical parallel wrist with three partially decoupled rotational degrees of freedom (DOFs) is introduced in this paper. The mechanism has the significant advantages of few singularities and simple partially decoupled kinematics. A modified parallel wrist is optimized to have the least lin...

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Bibliographic Details
Main Authors: Fan Zhang, Yunping Zhu, Tomonari Furukawa, Wanqing Song
Format: Article
Language:English
Published: Wiley 2015-01-01
Series:Journal of Robotics
Online Access:http://dx.doi.org/10.1155/2015/790414
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