Abstract: A new dextrous spherical wrist is presented here. The wrist is based upon a kinematically overconstrained and singularity-free pointing system. The pointing system and wrist are less mechanically ...

Abstract: This paper numerically determines the number of real-valued inverse kinematic solutions to a constrained parallel mechanism composed of three triangular platforms. The base and middle platforms ...

Abstract: Trajectory tracking is accomplished by obtaining separate solutions to the geometric path-tracking problem and the temporal tracking problem. A methodology enabling the geometric tracking of a ...