Fabrication and Analysis of a Novel 3 DOF Parallel Wrist Mechanism

[+] Author and Article Information
S. K. Agrawal, Glen Desmier, Siyan Li

Department of Mechanical Engineering, Ohio University, Athens, OH 45701

J. Mech. Des 117(2A), 343-345 (Jun 01, 1995) (3 pages) doi:10.1115/1.2826145 History: Received April 01, 1993; Revised March 01, 1994; Online December 11, 2007


This paper describes a three-degrees-of-freedom parallel-actuated wrist mechanism developed at Ohio University. This mechanism is capable of pointing an axis within a cone from the nominal position. The mechanism allows unlimited rotation about the pointing axis. Experiments were conducted to validate the kinematic model of the designed wrist.

Copyright © 1995 by The American Society of Mechanical Engineers
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