Zhang, FanZhu, YunpingFurukawa, TomonariSong, Wanqing2017-09-182017-09-182015-11-23Fan 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:10.1155/2015/790414http://hdl.handle.net/10919/78950A 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.application/pdfenCreative Commons Attribution 4.0 InternationalArticle - Refereed2017-09-18Copyright © 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.https://doi.org/10.1155/2015/790414