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Design and analysis of a 3-DOF spherical parallel manipulator – CORRECTED VERSION

Published online by Cambridge University Press:  01 September 2011

Dan Zhang  and
Fan Zhang
Dan Zhang*
Affiliation:
University of Ontario Institute of Technology, Oshawa, Ontario L1H 7K4, Canada Qingdao Technological University, Qingdao 266033, China
Fan Zhang
Affiliation:
Department of Mechanical Engineering, Shanghai University of Engineering Science, Shanghai 201620, China
*
*Corresponding author. E-mail: [email protected]
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Summary

In this paper, we propose a unique, 3 degree-of-freedom (DOF) parallel wrist. Specifically, an over-constrained spherical 3-DOF parallel mechanism is presented and the modified structure, which avoids the redundant constraints, is also introduced.

Keywords

Parallel manipulatorsDesignAutomationControl of robotic systemsMechatronic systems
Type
Articles
Information
Robotica , Volume 29 , Issue 7 , December 2011 , pp. 1109 - 1116
Copyright
Copyright © Cambridge University Press 2011

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