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RISThe Improved DLR Wrist: Design and Analysis of 2-Degrees-of-Freedom Rotational Mechanism Using Spatial Antiparallelogram Linkages
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This article presents a kinematic analysis and modification of a wrist mechanism of the DLR robot arm, which is based on antiparallelogram linkages. This mechanism is modified to improve the range of motion (ROM), to reduce ...
Modeling and Applications of a Family of Five-Degree-of-Freedom Parallel Mechanisms With Kinematic and Actuation Redundancy
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper introduces a family of statically balanced five-degree-of-freedom (5DOF) parallel mechanisms (PMs) with kinematic and actuation redundancy. Moving platforms of this family of PMs can provide 4DOF Schönflies ...