Kinematic Analysis of a Partially Decoupled 3-DOF Parallel Wrist
Joint Authors
Wanqing, Song
Zhang, Fan
Zhu, Yunping
Furukawa, Tomonari
Source
Issue
Vol. 2015, Issue 2015 (31 Dec. 2015), pp.1-9, 9 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2015-11-23
Country of Publication
Egypt
No. of Pages
9
Main Subjects
Abstract EN
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.
American Psychological Association (APA)
Zhang, Fan& Zhu, Yunping& Furukawa, Tomonari& Wanqing, Song. 2015. Kinematic Analysis of a Partially Decoupled 3-DOF Parallel Wrist. Journal of Robotics،Vol. 2015, no. 2015, pp.1-9.
https://search.emarefa.net/detail/BIM-1070038
Modern Language Association (MLA)
Zhang, Fan…[et al.]. Kinematic Analysis of a Partially Decoupled 3-DOF Parallel Wrist. Journal of Robotics No. 2015 (2015), pp.1-9.
https://search.emarefa.net/detail/BIM-1070038
American Medical Association (AMA)
Zhang, Fan& Zhu, Yunping& Furukawa, Tomonari& Wanqing, Song. Kinematic Analysis of a Partially Decoupled 3-DOF Parallel Wrist. Journal of Robotics. 2015. Vol. 2015, no. 2015, pp.1-9.
https://search.emarefa.net/detail/BIM-1070038
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1070038
