Paper Info
Title
Kinematics And Dynamics Of An Asymmetrical Parallel Robotic Wrist
Abstract
This paper introduces an asymmetrical parallel robotic wrist, which can generate a decoupled unlimited-torsion motion and achieve high positioning accuracy. The kinematics, dexterity, and singularities of the manipulator are investigated to visualize the performance contours of the manipulator. Using the method of Lagrange multipliers and considering all the mobile components, the equations of motion of the manipulator are derived to investigate the dynamic characteristics efficiently. The developed dynamic model is numerically illustrated and compared with its simplified formulation to show its computation accuracy.
Year
DOI
Venue
2014
10.1155/2014/296250
JOURNAL OF ROBOTICS
Field
DocType
Volume
Wrist,Kinematics,Computer science,Simulation,Lagrange multiplier,Manipulator,Gravitational singularity,Equations of motion,Computation
Journal
2014
ISSN
Citations 
PageRank 
1687-9600
1
0.37
References 
Authors
11
1
Name
Order
Citations
PageRank
Guanglei Wu173.08