Kinematic Analysis of a Partially Decoupled 3-DOF Parallel Wrist

Date
2015-11-23Author
Zhang, Fan
Zhu, Yunping
Furukawa, Tomonari
Song, Wanqing
Metadata
Show full item recordAbstract
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.