Kinematics of a new spherical parallel manipulator with three equal legs: The 3-URC wrist

DOI10.1002/ROB.1017zbMath0988.70003OpenAlexW2008814236MaRDI QIDQ2729199

Raffaele Di Gregorio

Publication date: 27 June 2002

Published in: Journal of Robotic Systems (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1002/rob.1017

zbMATH Keywords

kinematicsbasesingularity analysisplatformposition analysisspherical parallel manipulatormounting conditionsserial URC-chain

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15)

Related Items (4)

Type synthesis of the rotational decoupled parallel mechanism based on screw theory ⋮ A novel method for the solution of the forward displacement problem of spherical parallel manipulators ⋮ A novel approach for forward position analysis of a double-triangle spherical parallel manipulator ⋮ PAMINSA: a new family of partially decoupled parallel manipulators

Cites Work

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