Kinematic Analysis of a New 3-DOF Parallel Wrist-Gripper Assembly with a Large Singularity-Free Workspace

This paper introduces a novel dexterous 3-DOF parallel wrist-gripper assembly with a large singularity-free range of motion. It consists of a zero-torsion 2-DOF parallel wrist and a 1-DOF parallel gripper. The wrist produces a 2-DOF sphere-on-sphere pure rolling motion. This large singularity-free 2...

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Autores principales:	Ramin Ghaedrahmati, Clément Gosselin
Formato:	Artigo
Lenguaje:	Inglês
Publicado:	MDPI AG 2023-11-01
Colección:	Actuators
Materias:	zero-torsion 2-DOF parallel wrist sphere-on-sphere rolling motion 3-DOF wrist-gripper assembly Jacobian matrices inverse kinematics forward kinematics
Acceso en línea:	https://www.mdpi.com/2076-0825/12/11/421
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