A 3-RRR Spherical Parallel Manipulator Reconfigured with Four-bar Linkages

@inproceedings{Wu2018A3S,
  title={A 3-RRR Spherical Parallel Manipulator Reconfigured with Four-bar Linkages},
  author={Guanglei Wu and Huimin Dong and Delun Wang and Shaoping Bai},
  year={2018}
}
In this paper, a reconfigurable parallel wrist manipulator, which is based on a coaxial actuated spherical mechanism with full-circle twist, is presented. The reconfiguration of the wrist is realized through a simple four-bar linkage in each independent limb to change one geometric parameter for variations of performances, which eases motion control. The workspace, dexterity and singularity of the wrist manipulator in different configurations are investigated, with consideration of the effect… CONTINUE READING