Dynamics of a Class of Parallel Wrists

[+] Author and Article Information
Raffaele Di Gregorio

Department of Engineering, University of Ferrara, Via Saragat, 1 44100 Ferrara, Italy

Vincenzo Parenti-Castelli

DIEM-University of Bologna, Viale Risorgimento, 2 40136 Bologna, Italy

J. Mech. Des 126(3), 436-441 (Oct 01, 2003) (6 pages) doi:10.1115/1.1737382 History: Received April 01, 2003; Revised October 01, 2003
Copyright © 2004 by ASME
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Grahic Jump Location
Serial wrist (R stands for revolute pair)
Grahic Jump Location
Example of parallel wrist of type 3-RRR
Grahic Jump Location
Platform with the external loads reduced to P
Grahic Jump Location
Diagram of the performance index d1 defined as (27 det(N)/Trace3(N))
Grahic Jump Location
Diagrams of the torques τk,k=1,2,3, for T=5 sec and T=0.5 sec in the motion law (27)




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