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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

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

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