Comments on "design and analysis of a totally decoupled 3-dof spherical parallel manipulator" by d. zhang and f. zhang (robotica, available on cjo 19 nov, 2010, doi: 10.1017/s0263574710000652)

  • Authors:

  • Xianwen Kong;Clément Gosselin;Marco Carricato

  • Affiliations:

  • Department of mechanical engineering, school of engineering and physical sciences, heriot-watt university, edinburgh, eh14 4as, uk e-mail: x.kong@hw.ac.uk;Département de génie mécanique, université laval, pavillon adrien-pouliot, 1065 avenue de la médecine, qc g1v 0a6, canada e-mail: gosselin@gmc.ulaval.ca;Diem-department of mechanical engineering, university of bologna, viale risorgimento 2, 40136 bologna, bo, italy e-mail: marco.carricato@unibo.it

  • Venue:
  • Robotica
  • Year:
  • 2011

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Abstract

D. Zhang and F. Zhang addressed the issue of designing and analyzing totally decoupled 3-DOF spherical parallel manipulators (SPMs) and concluded that the SPMs in Figs. 5(a) and 5(b) of ref. [1] are completely decoupled and fully isotropic (see Abstract, Section 5, and Conclusions in ref. [1]). This topic is of great interest to researchers working in the general area of parallel mechanisms. However, we disagree with the authors of ref. [1] on their conclusion.