This paper introduces a novel dexterous overconstrained 2-DOF parallel wrist with a large
singularity-free range of motion. This mechanism produces a 2-DOF sphere on sphere pure …

This paper deals with the dynamic modeling and base inertial parameter determination of a
general 5R 2-degree-of-freedom spherical parallel manipulator. By using a new geometric …

Multi-objective optimization of a typical parallel tracking mechanism considering parameter
uncertainty is carried out in this paper. Both dimensional and sectional parameters are …

A novel spatial parallel manipulator designed to assemble diagnostic instruments in SG-III is
introduced in this paper. Firstly, resorting to screw theory, mobility analysis of this …

In the previous rehabilitation robot research, the proposed ankle models have distinctions
with the human ankle bone structure. It leads to the unsatisfactory human-machine …

Although analytical methods are traditionally employed, the solution to the Forward
Kinematics (FK) problem for Selective Compliance Assembly Robot Arm (SCARA) …

Current research on spherical parallel mechanisms (SPMs) mainly focus on surgical robots,
exoskeleton robots, entertainment equipment, and other fields. However, compared with the …

This paper deals with geometric error modeling and sensitivity analysis of an over-
constrained parallel tracking mechanism. The main contribution is the consideration of over …

The two-rotational-degrees-of-freedom (2R) parallel mechanism (PM) with two continuous
rotational axes (CRAs) has a simple kinematic model. It is therefore easy to implement …

Abstract The Omni-Wrist III, invented by Ross-Hime Designs, Inc.(Rosheim, 1999, 2002), is a
well known two-degree of freedom wrist mechanism that incorporates parallel links with …