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Journal of Robotics
Volume 2015, Article ID 790414, 9 pages
Research Article

Kinematic Analysis of a Partially Decoupled 3-DOF Parallel Wrist

1Shanghai University of Engineering Science, Shanghai 24060, China
2Department of Mechanical Engineering, Virginia Tech, Blacksburg, VA 24060, USA

Received 15 July 2015; Revised 7 October 2015; Accepted 22 October 2015

Academic Editor: Shahram Payandeh

Copyright © 2015 Fan Zhang et al. 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.


A unique spherical parallel wrist with three partially decoupled rotational degrees of freedom (DOFs) is introduced in this paper. The mechanism has the significant advantages of few singularities and simple partially decoupled kinematics. A modified parallel wrist is optimized to have the least link interference workspace. Finally, the decoupled motion is studied in detail to exhibit the kinematic performance of the mechanism.