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Journal of Robotics
Volume 2015, Article ID 790414, 9 pages
http://dx.doi.org/10.1155/2015/790414
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.

Supplementary Material

Supplementary material (a) and (b) show that the rotational output angle around R1 of the parallel wrist keeps the same while the other two rotational output angle of the parallel wrist vary.

Supplementary material (c) shows that the rotational output angle around R8 of the parallel wrist keeps the same while the other two rotational output angle of the parallel wrist vary.

Supplementary material (d) shows that the rotational output angle around R12 of the parallel wrist keeps the same while the other two rotational output angle of the parallel wrist vary.

  1. Supplementary Material