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On the S-(nS)PU-SPU and S-(nS)PU-2SPU Under-Actuated Wrists

[+] Author Affiliations
Raffaele Di Gregorio

University of Ferrara, Ferrara, Italy

Paper No. DETC2011-47541, pp. 891-897; 7 pages
  • ASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 6: 35th Mechanisms and Robotics Conference, Parts A and B
  • Washington, DC, USA, August 28–31, 2011
  • Conference Sponsors: Design Engineering Division and Computers and Information in Engineering Division
  • ISBN: 978-0-7918-5483-9
  • Copyright © 2011 by ASME


In a previous work, this author showed that ten topologies for under-actuated parallel wrists can be generated from the fully-parallel wrist. Three of them are obtained by simply replacing a spherical pair (S) with a nonholonomic spherical pair (nS). The S-(nS)P U-SP U, and S-(nS)P U-2SP U wrists are two of these three. The position analysis of these two wrists is studied in this paper. In particular, all the four position-analysis problems, which are necessary for implementing their path planning, are addressed and solved in closed-form. Despite their different topology, the position-analysis of these two wrists can be practically solved by using the same formulas and algorithms. Based on the deduced formulas, a path-planning algorithm is proposed. The obtained results make the studied wrist topologies able to replace “ordinary” wrists in the manipulation tasks which do not require tracking.

Copyright © 2011 by ASME



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