Title :
Type Synthesis of a Fully Decoupled Parallel Wrist Manipulator
Author :
Fan, Zhang ; Yan, Liu
Author_Institution :
Shanghai Univ. of Eng. Sci., Shanghai, China
Abstract :
In this paper, we propose a fully decoupled Three Degree-of-Freedom (DOF) parallel wrist. The theory for type synthesis of fully decoupled parallel mechanism is concluded by reciprocal screw theory, and some symmetrical and asymmetrical 3-DOF parallel wrist is generated by the method. Since the Jacobian matrix of parallel wrist manipulator derived from the kinematics is constant, the mechanism is singularity-free and isotropic.
Keywords :
Jacobian matrices; manipulator kinematics; motion control; Jacobian matrix; decoupled motion; degree-of-freedom; manipulator kinematics; parallel wrist manipulator; reciprocal screw theory; Equations; Fasteners; Jacobian matrices; Joints; Kinematics; Manipulators; Wrist; Parallel mechanism; decoupled motion; spherical motion; synthesis;
Conference_Titel :
Measuring Technology and Mechatronics Automation (ICMTMA), 2011 Third International Conference on
Conference_Location :
Shangshai
Print_ISBN :
978-1-4244-9010-3
DOI :
10.1109/ICMTMA.2011.837
