Kinematic Analysis of a Partially Decoupled 3-DOF Parallel Wrist

dc.contributor.authorZhang, Fanen
dc.contributor.authorZhu, Yunpingen
dc.contributor.authorFurukawa, Tomonarien
dc.contributor.authorSong, Wanqingen
dc.contributor.departmentMechanical Engineeringen
dc.date.accessioned2017-09-18T09:40:03Zen
dc.date.available2017-09-18T09:40:03Zen
dc.date.issued2015-11-23en
dc.date.updated2017-09-18T09:40:02Zen
dc.description.abstractA 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.en
dc.description.versionPublished versionen
dc.format.mimetypeapplication/pdfen
dc.identifier.citationFan Zhang, Yunping Zhu, Tomonari Furukawa, and Wanqing Song, “Kinematic Analysis of a Partially Decoupled 3-DOF Parallel Wrist,” Journal of Robotics, vol. 2015, Article ID 790414, 9 pages, 2015. doi:10.1155/2015/790414en
dc.identifier.doihttps://doi.org/10.1155/2015/790414en
dc.identifier.urihttp://hdl.handle.net/10919/78950en
dc.language.isoenen
dc.publisherHindawien
dc.rightsCreative Commons Attribution 4.0 Internationalen
dc.rights.holderCopyright © 2015 Fan Zhang et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.en
dc.rights.urihttp://creativecommons.org/licenses/by/4.0/en
dc.titleKinematic Analysis of a Partially Decoupled 3-DOF Parallel Wristen
dc.title.serialJournal of Roboticsen
dc.typeArticle - Refereeden
dc.type.dcmitypeTexten
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