Parallel wrists with three degrees of freedom
Parallel wrists (PWs) with three degrees of freedom are spherical parallel mechanisms used in many applications that require orienting a body in space thus enabling arbitrary rotations of the mobile platform about a fixed point. Three-degree-of-freedom PWs already give rise to interesting applications by orienting machine tools beds and workpieces, surgical tools in minimally invasive surgery (Bombin et al. 2001, Li and Payandeh 2002), shoulder mechanism, solar panels, radar antennas, telescopes and artificial hips in biomedical engineering (Hunag and Yao 1999) and biologically inspired robots (Chablat and Wanger 2005), haptic devices (Birglen et al. 2002).
KeywordsParallel Mechanism Kinematic Chain Mobile Platform Revolute Joint Haptic Device
Unable to display preview. Download preview PDF.
- Al-Widyan K, Monsarrat B, Angeles J (2003) The robust analysis and design of parallel spherical manipulators. Proc Dresden Symposium on Geometry: Constructive and KinematicGoogle Scholar
- Callegari M, Marzetti P, Olivieri B (2004) Kinematics of a parallel mechanism for the generation of spherical motions. In: Lenarčič J, Galletti C (eds) On advances in robot kinematics, Kluwer Academic Publishers, Dordrecht, pp 449-458Google Scholar
- Celaya E (2002) Interval propagation for solving parallel spherical mechanisms. In: Lenarčič J, Thomas F (eds) Advances in robot kinematics, Kluwer Academic Publishers, Dordrecht, pp 415-422Google Scholar
- Di Gregorio R (2001c) A new parallel wrist using only revolute pairs: the 3-RUU wrist. Robotica 19:305-309Google Scholar
- Gosselin CM, Hamel JF (1994) The agile eye: A high performance three-degree-of-freedom camera-orienting device. Proc IEEE Int Conf Robotics and Automation, San Diego, pp 781–786Google Scholar
- Keler ML (1998) Dual expansion of an optimal spherical platform device. In: Lenarčič J, Husty M (eds) Advances in robot kinematics: analysis and control, Kluwer Academic Publishers, Dordrecht, pp 79-86Google Scholar
- Lee S, Kim W, Oh S, Yi B (2005) Kinematic analysis and implementation of a spherical 3-degree-of-freedom parallel mechanism. Proc IEEE Int Conf Inteligent Robots Systems, Edmonton, pp 972-977Google Scholar
- Mohamadi Daniali HR, Zsombor-Murray P-J, Angeles J (1993) The kinematics of a 3 dof planar and spherical double-triangle parallel manipulator. In: Angeles J, Kovacs P, Hommel G (eds) Computational kinematics, KluwerGoogle Scholar
- Pierrot F, Dombre E (1991) Parallel structures for robot wrists. In: Lenarčič J, Stifter S (eds) Advances in Robot Kinematics, Springer-Verlag, WienGoogle Scholar
- Takeda Y, Funabashi H, Sasaki Y (1996) Development of a spherical in-parallel actuated mechanism with three degrees of freedom with large working space and high motion transmissibility: evaluation of motion transmissibility and analysis of working space. JSME Int Journal. Ser. C, Dynamics, control, robotics, design and manufacturing 39-C(3):541-548Google Scholar
- Yang G, Ho H, Lin W, Chen I (2004) A differential geometry approach for the workspace analysis of spherical parallel manipulators. Proc of the 11th World Congress in Mechanism and Machine Science, vol 4, China Machine Press, Beijing, pp 260-265Google Scholar