Design and kinematic analysis of a new 3-DOF spherical parallel manipulator for a prosthetic wrist

  • José-Alfredo Leal-NaranjoEmail author
  • Mingfeng Wang
  • Juan-Carlos Paredes-Rojas
  • Horacio Rostro-Gonzalez
Technical Paper


This paper presents a new three-degrees-of-freedom spherical parallel manipulator, which is designed to be used as a prosthetic wrist. The inverse position problem is solved and a closed form equation is obtained. Afterward, using the screw theory approach, the mobility analysis is performed to demonstrate that the proposed mechanism performs spherical motion. The velocity analysis is carried out by means of screw theory, and an input–output velocity equation is obtained. Furthermore, a preliminary virtual design of the mechanism is presented and the workspace and analytical static analysis is performed. Finally, a set of dynamic simulations are carried out to demonstrate the three movements (i.e., pronation–supination, flexion–extension, and ulnar–radial deviation) of the wrist, and the simulation results show that the proposed mechanism is capable of performing the full range of motion required for daily living and the required actuation torques are obtained for the future development.


Prosthetic wrist Parallel manipulator Biomechanics Screw theory 



This research has been supported by the CONACYT project FC2016-1961 “Neurociencia Computacional: de la teoría al desarrollo de sistemas neuromórficos”.

Compliance with ethical standards

Conflict of interest

The authors declare that there is no conflict of interest regarding the publication of this paper.


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Copyright information

© The Brazilian Society of Mechanical Sciences and Engineering 2019

Authors and Affiliations

  1. 1.DICIS, Departamento de ElectrónicaUniversidad de GuanajuatoSalamancaMexico
  2. 2.Rolls-Royce UTC in Manufacturing and On-Wing TechnologyUniversity of NottinghamNottinghamUK
  3. 3.Laboratorio nacional de desarrollo y aseguramiento de la calidad en biocombustibles del centro mexicano para la producción más limpiaInstituto Politécnico NacionalMexico CityMexico

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