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TECHNICAL PAPERS

The Computation of All 4R Serial Spherical Wrists With an Isotropic Architecture

[+] Author and Article Information
Damien Chablat

Institut de Recherche en Communications et Ecole Centrale de Nantes, Université de Nantes, 44321 Nantes, Francee-mail: Damien.Chablat@irccyn.ec-nantes.fr

Jorge Angeles

Department of Mechanical Engineering & Centre for Intelligent Machines, McGill University, Montreal, Canada H3A 2K6e-mail: angeles@cim.mcgill.ca

J. Mech. Des 125(2), 275-280 (Jun 11, 2003) (6 pages) doi:10.1115/1.1561041 History: Received September 01, 2001; Online June 11, 2003
Copyright © 2003 by ASME
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References

Salisbury,  J. K., and Craig,  J. J., 1982, “Articulated Hands: Force Control and Kinematic Issues,” Int. J. Robot. Res., 1(1), pp. 4–17.
Klein,  C. A., and Miklos,  T. A., 1991, “Spatial Robotic Isotropy,” Int. J. Robot. Res., 10(4) August.
Golub, G. H., and Van Loan, C. F., 1989, Matrix Computations, The Johns Hopkins University Press, Baltimore.
Tchoń,  K., 2000, “Singularities of Euler Wrist,” Mech. Mach. Theory, 35, pp. 505–515.
Long, G. L., Paul, R. P., and Fischer, W. D., 1989, “The Hamilton Wrist: A Four-Revolute Spherical Wrist Whiteout Singularities,” Proc. IEEE Int. Conf. Robotics and Automation, pp. 902–907.
Farhang,  K., and Zargar,  Y. S., 1999, “Design of Spherical 4R Mechanisms: Function Generation for the Entire Motion Cycle,” ASME J. Mech. Des., 121, pp. 521–528.
Angeles, J., 2002, Fundamentals of Robotic Mechanical Systems, Second Edition, Springer-Verlag, New York.
Kroto,  H. W., Heath,  J. R., O’Brien,  S. C., Curl,  R. F., and Smalley,  R. E., 1985, “C60: Buckminsterfullerene,” Nature (London), 318, pp. 162–163.
Angeles, J., and Chablat, D., 2000, “On Isotropic Sets of Points in the Plane. Application to the Design of Robot Architectures,” Lenarcic, J., and Stanisic, M. M., eds., Advances in Robot Kinematic, Kluwer Academic Publishers, pp. 73–82.
Emiris, I., 1984, “Sparse Elimination and Applications in Kinematics,” Ph.D. Thesis, UC Berkeley.
Bernstein,  D. N., 1975, “The Number of Roots of a System of Equations,” Funct. Anal. Appl., 9(2), pp. 183–185.

Figures

Grahic Jump Location
A general n-revolute spherical wrist
Grahic Jump Location
The eight distinct isotropic wrists of Table 5
Grahic Jump Location
The reflection of a point with respect to a line

Tables

Errata

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