Design of an Overconstrained and Dextrous Spherical Wrist

[+] Author and Article Information
Jared M. Wiitala, Michael M. Stanišić

  University of Notre Dame, Notre Dame, IN 46556-5637

J. Mech. Des 122(3), 347-353 (Dec 01, 1998) (7 pages) doi:10.1115/1.1286870 History: Received December 01, 1998
Copyright © 2000 by ASME
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Grahic Jump Location
The prototype in an extreme position
Grahic Jump Location
The orthogonal spherical eight-bar linkage
Grahic Jump Location
An overconstrained symmetrically actuated pointing system and wrist
Grahic Jump Location
(a) revolute joint (b) spherical sliding joint
Grahic Jump Location
Rail and carriage equivalent of the pointing system and wrist



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