Kinematic Analysis of a Partially Decoupled 3-DOF Parallel Wrist

Figure 4

The demonstration of partially decoupled motion.

(a) The posture when = 148 cm, = 220~170 cm, and = 30~20°

(b) The posture when = 148 cm, = 170~260 cm, and = 20°

(c) The posture when = 148~258 cm, = 260 cm, and = 20°

(d) The posture when = 258 cm, = 260, and = 20~45°