Design and analysis of a 3-dof spherical parallel manipulator-corrected version

Authors:
Dan Zhang;Fan Zhang
Affiliations:
University of ontario institute of technology, oshawa, ontario l1h 7k4, canada and qingdao technological university, qingdao 266033, china;Department of mechanical engineering, shanghai university of engineering science, shanghai 201620, china
Venue:
Robotica
Year:
2011

Citing 3
Cited 0

A new family of spherical parallel manipulators

Robotica
Design of spherical parallel mechanisms for application to laparoscopic surgery

Robotica
Type Synthesis of Parallel Mechanisms

Type Synthesis of Parallel Mechanisms

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Abstract

In this paper, we propose a unique, 3 degree-of-freedom (DOF) parallel wrist. Specifically, an over-constrained spherical 3-DOF parallel mechanism is presented and the modified structure, which avoids the redundant constraints, is also introduced.