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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| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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Wiley
2015-01-01
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| Series: | Journal of Robotics |
| Online Access: | http://dx.doi.org/10.1155/2015/790414 |
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| _version_ | 1832552058949992448 |
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| author | Fan Zhang Yunping Zhu Tomonari Furukawa Wanqing Song |
| author_facet | Fan Zhang Yunping Zhu Tomonari Furukawa Wanqing Song |
| author_sort | Fan Zhang |
| collection | DOAJ |
| description | 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. |
| format | Article |
| id | doaj-art-fcd56bc47e1444de83e5b23682445f5d |
| institution | Kabale University |
| issn | 1687-9600 1687-9619 |
| language | English |
| publishDate | 2015-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Journal of Robotics |
| spelling | doaj-art-fcd56bc47e1444de83e5b23682445f5d2025-02-03T05:59:49ZengWileyJournal of Robotics1687-96001687-96192015-01-01201510.1155/2015/790414790414Kinematic Analysis of a Partially Decoupled 3-DOF Parallel WristFan Zhang0Yunping Zhu1Tomonari Furukawa2Wanqing Song3Shanghai University of Engineering Science, Shanghai 24060, ChinaShanghai University of Engineering Science, Shanghai 24060, ChinaDepartment of Mechanical Engineering, Virginia Tech, Blacksburg, VA 24060, USAShanghai University of Engineering Science, Shanghai 24060, ChinaA 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.http://dx.doi.org/10.1155/2015/790414 |
| spellingShingle | Fan Zhang Yunping Zhu Tomonari Furukawa Wanqing Song Kinematic Analysis of a Partially Decoupled 3-DOF Parallel Wrist Journal of Robotics |
| title | Kinematic Analysis of a Partially Decoupled 3-DOF Parallel Wrist |
| title_full | Kinematic Analysis of a Partially Decoupled 3-DOF Parallel Wrist |
| title_fullStr | Kinematic Analysis of a Partially Decoupled 3-DOF Parallel Wrist |
| title_full_unstemmed | Kinematic Analysis of a Partially Decoupled 3-DOF Parallel Wrist |
| title_short | Kinematic Analysis of a Partially Decoupled 3-DOF Parallel Wrist |
| title_sort | kinematic analysis of a partially decoupled 3 dof parallel wrist |
| url | http://dx.doi.org/10.1155/2015/790414 |
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