Development of a Spherical 2-DOF Wrist Employing Spatial Parallelogram Structure
Hyunhwan Jeong,Sunhyuk Baek,Wheekuk Kim,Byung-Ju Yi,Hyunhwan Jeong,Sunhyuk Baek,Wheekuk Kim,Byung-Ju Yi
A spherical two-degree-of- freedom wrist adapting the structure of the spatial parallelogram is proposed. A U type extended link out of three UU type limbs of the spatial parallelogram is selected as an output link. As a result, the wrist can be interpreted as being formed by combination of a U type limb and a (2-UU)+U type hybrid limb. Screw theory is employed to analyze its first-order kinematic...
