Kinematic Analysis of a Partially Decoupled 3-DOF Parallel Wrist

Table 1

The cases of direct kinematics.

Posture	Input			Output
	(cm)	(cm)	()	()	()	()
1	148	220	30	45.23	−44.62	41.84
2	148	170	20	−31.84	−44.62	22.15
3	148	260	20	26.10	−44.62	22.30
4	258	260	20	26.10	24.46	11.23
5	258	260	45	26.10	24.46	24.26