Kinematic Analysis of a Partially Decoupled 3-DOF Parallel Wrist

<table class="figure-group"><tr class="fig-image" id="a"><td><object data="https://static.hindawi.com/articles/jr/volume-2015/790414/figures/790414.fig.001a.svgz" name="790414.fig.001a" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(a) </b>The CAD model of partially decoupled parallel wrist</td></tr><tr class="fig-image" id="b"><td><object data="https://static.hindawi.com/articles/jr/volume-2015/790414/figures/790414.fig.001b.svgz" name="790414.fig.001b" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(b) </b>The schematic diagram of mechanism</td></tr></table>

<div>The schematic diagram and design of the partially decoupled 3-DOF parallel wrist.</div>

Journal of Robotics

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Figure 1

Figure 1: Kinematic Analysis of a Partially Decoupled 3-DOF Parallel Wrist 