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Kinematics and Dynamics of an Asymmetrical Parallel Robotic Wrist
Author
Source
Issue
Vol. 2014, Issue 2014 (31 Dec. 2014), pp.1-13, 13 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2014-11-30
Country of Publication
Egypt
No. of Pages
13
Main Subjects
Abstract EN
This paper introduces an asymmetrical parallel robotic wrist, which can generate a decoupled unlimited-torsion motion and achieve high positioning accuracy.
The kinematics, dexterity, and singularities of the manipulator are investigated to visualize the performance contours of the manipulator.
Using the method of Lagrange multipliers and considering all the mobile components, the equations of motion of the manipulator are derived to investigate the dynamic characteristics efficiently.
The developed dynamic model is numerically illustrated and compared with its simplified formulation to show its computation accuracy.
American Psychological Association (APA)
Wu, Guanglei. 2014. Kinematics and Dynamics of an Asymmetrical Parallel Robotic Wrist. Journal of Robotics،Vol. 2014, no. 2014, pp.1-13.
https://search.emarefa.net/detail/BIM-1042871
Modern Language Association (MLA)
Wu, Guanglei. Kinematics and Dynamics of an Asymmetrical Parallel Robotic Wrist. Journal of Robotics No. 2014 (2014), pp.1-13.
https://search.emarefa.net/detail/BIM-1042871
American Medical Association (AMA)
Wu, Guanglei. Kinematics and Dynamics of an Asymmetrical Parallel Robotic Wrist. Journal of Robotics. 2014. Vol. 2014, no. 2014, pp.1-13.
https://search.emarefa.net/detail/BIM-1042871
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1042871