Kinematic Analysis of a Partially Decoupled 3-DOF Parallel Wrist. (23rd November 2015)

• Record Type: Journal Article
• Authors: Zhang, Fan; Zhu, Yunping; Furukawa, Tomonari; Song, Wanqing
• Other Names: Payandeh Shahram Academic Editor.
• Is Part Of: Journal of robotics. Volume 2015(2015)
• Publication Date: 2015-11-23
• Subjects: Robotics -- Periodicals; Robotics; Periodicals; 629.892
• DOI: 10.1155/2015/790414
• Languages: English
• ISSNs: 1687-9600

Abstract

Abstract : 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 link interference workspace. Finally, the decoupled motion is studied in detail to exhibit the kinematic performance of the mechanism.