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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 ...