Design and analysis of a 3-DOF spherical parallel manipulator - CORRECTED VERSIOn

Dan Zhang, Fan Zhang

Research output: Journal article publicationJournal articleAcademic researchpeer-review

5 Citations (Scopus)

Abstract

Summary 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.

Original languageEnglish
Pages (from-to)1109-1116
Number of pages8
JournalRobotica
Volume29
Issue number7
DOIs
Publication statusPublished - Dec 2011
Externally publishedYes

Keywords

  • Automation
  • Control of robotic systems
  • Design
  • Mechatronic systems
  • Parallel manipulators

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computational Mechanics
  • General Mathematics
  • Modelling and Simulation
  • Rehabilitation
  • Mechanical Engineering
  • Computer Vision and Pattern Recognition
  • Computer Science Applications
  • Control and Optimization
  • Artificial Intelligence

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