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. © 2013 by John Wiley & Sons, Inc..
Parallel Wrists: Limb Types, Singularities and New Perspectives
DI GREGORIO, Raffaele
2013
Abstract
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. © 2013 by John Wiley & Sons, Inc..File in questo prodotto:
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