| contributor author | Tarcisio A. Hess-Coelho | |
| date accessioned | 2017-05-09T00:25:03Z | |
| date available | 2017-05-09T00:25:03Z | |
| date copyright | August, 2007 | |
| date issued | 2007 | |
| identifier issn | 1050-0472 | |
| identifier other | JMDEDB-27854#891_1.pdf | |
| identifier uri | http://yetl.yabesh.ir/yetl/handle/yetl/136446 | |
| description abstract | Parallel kinematic structures constitute promising alternative architectures, when compared to their serial counterparts, for developing positioning and orienting robotic mechanisms. The present author, in a previous work, proposed a qualitative procedure that enables the designer to compare kinematic structures from a group of candidates for robotic wrist applications. Among one of the architectures recommended by the method—the 3 RRR+RUR—is theoretically analyzed here, so its kinematic performance is evaluated. In order to verify the theoretical results, a prototype of the kinematic parallel structure considered is tested and its behavior is observed under operating conditions. | |
| publisher | The American Society of Mechanical Engineers (ASME) | |
| title | A Redundant Parallel Spherical Mechanism for Robotic Wrist Applications | |
| type | Journal Paper | |
| journal volume | 129 | |
| journal issue | 8 | |
| journal title | Journal of Mechanical Design | |
| identifier doi | 10.1115/1.2735645 | |
| journal fristpage | 891 | |
| journal lastpage | 895 | |
| identifier eissn | 1528-9001 | |
| keywords | Kinematics | |
| keywords | Engineering prototypes | |
| keywords | Robotics | |
| keywords | Mechanisms | |
| keywords | End effectors AND Architecture | |
| tree | Journal of Mechanical Design:;2007:;volume( 129 ):;issue: 008 | |
| contenttype | Fulltext | |
