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Instantaneous Kinematics and Singularities of Two Types of Under-Actuated Parallel Wrists

[+] Author Affiliations
Raffaele Di Gregorio

University of Ferrara, Ferrara, Italy

Paper No. ESDA2012-82084, pp. 117-125; 9 pages
  • ASME 2012 11th Biennial Conference on Engineering Systems Design and Analysis
  • Volume 3: Advanced Composite Materials and Processing; Robotics; Information Management and PLM; Design Engineering
  • Nantes, France, July 2–4, 2012
  • Conference Sponsors: International
  • ISBN: 978-0-7918-4486-1
  • Copyright © 2012 by ASME


S-(nS)PU-SPU and S-(nS)PU-2SPU are two out of three types of under-actuated wrists that are generated from the “ordinary” wrists of type S-3SPU (fully-parallel wrists), by replacing a spherical pair (S) with a nonholonomic spherical pair (nS) according to the rules stated in [1]. Position analysis, controllability, and path planning of these two wrist types have been addressed and solved in two previous papers [2, 3] of this author. Their kinetostatics and singularity analysis have not been addressed, yet; and they are studied in this paper.

Copyright © 2012 by ASME



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