Design and Analysis of a Hemispherical Parallel Mechanism for Forearm–Wrist Rehabilitation

Figure 10

The workspace analysis of the FWM. (a) The Cartesian 3D space. (b) X–Z-axis of 2D space. (c) Y–Z-axis of 2D space. (d) X–Y-axis of 2D space.

(a)

(b)

(c)

(d)