The 3-RRS Wrist: A New, Simple and Non-Overconstrained Spherical Parallel Manipulator

[+] Author and Article Information
Raffaele Di Gregorio

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

J. Mech. Des 126(5), 850-855 (Oct 28, 2004) (6 pages) doi:10.1115/1.1767819 History: Received October 01, 2000; Revised February 01, 2004; Online October 28, 2004
Copyright © 2004 by ASME
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Grahic Jump Location
Rigid body with three points moving on concentric spheres
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Particular geometric conditions: (a) the points moving on concentric spheres lie on a straight line; (b) the points moving on concentric spheres and the spheres’ center lie on a plane
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i-th leg of the 3-RRS wrist
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Geometric condition identifying the rotation singularities




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