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Journal of Robotics
Volume 2014, Article ID 296250, 13 pages
Research Article

Kinematics and Dynamics of an Asymmetrical Parallel Robotic Wrist

Department of Mechanical and Manufacturing Engineering, Aalborg University, 9220 Aalborg, Denmark

Received 24 July 2014; Accepted 1 November 2014; Published 1 December 2014

Academic Editor: Gordon R. Pennock

Copyright © 2014 Guanglei Wu. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


This paper introduces an asymmetrical parallel robotic wrist, which can generate a decoupled unlimited-torsion motion and achieve high positioning accuracy. The kinematics, dexterity, and singularities of the manipulator are investigated to visualize the performance contours of the manipulator. Using the method of Lagrange multipliers and considering all the mobile components, the equations of motion of the manipulator are derived to investigate the dynamic characteristics efficiently. The developed dynamic model is numerically illustrated and compared with its simplified formulation to show its computation accuracy.