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Kinematic Analysis of a Partially Decoupled 3-DOF Parallel Wrist
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نویسنده
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zhang f. ,zhu y. ,furukawa t. ,song w.
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منبع
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journal of robotics - 2015 - دوره : 2015 - شماره : 0
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چکیده
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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. © 2015 fan zhang et al.
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آدرس
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shanghai university of engineering science, China, shanghai university of engineering science, China, department of mechanical engineering,virginia tech,blacksburg, United States, shanghai university of engineering science, China
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Authors
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