Parallel Wrists: Limb Types, Singularities and New Perspectives

Chapter 6 Parallel Wrists: Limb Types, Singularities and New Perspectives Raffaele Di Gregorio, Raffaele Di GregorioSearch for more papers by this author Raffaele Di Gregorio, Raffaele Di GregorioSearch for more papers by this author Book Editor(s):Maki K. Habib, Maki K. HabibSearch for more papers by this authorJ. Paulo Davim, J. Paulo DavimSearch for more papers by this author First published: 05 May 2013 https://doi.org/10.1002/9781118577516.ch6Citations: 1 AboutPDFPDF ToolsRequest permissionExport citationAdd to favoritesTrack citation ShareShareShare a linkShare onFacebookTwitterLinked InRedditWechat Summary This chapter reviews the criteria to identify the limb architectures suitable for parallel wrists (PWs) and the instantaneous kinematics of PWs. Special attention is given to the use of the screw theory and of the displacement groups. The relationship between the limb architecture and the resulting PW mobility is discussed. The main results reported in the literature about the singularity analysis of PWs are summarized, and the problem of characterizing the kinetostatic performances of PWs is addressed. Eventually, innovative wrist architectures, recently proposed, are presented. Citing Literature Interdisciplinary Mechatronics RelatedInformation