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DESIGN INNOVATION BRIEF

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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References

Figures

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The orthogonal spherical eight-bar linkage
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An overconstrained symmetrically actuated pointing system and wrist
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(a) revolute joint (b) spherical sliding joint
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Rail and carriage equivalent of the pointing system and wrist
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The prototype in an extreme position

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