2021
Development of a New 2-DOF Wrist Mechanism Using Reverse Motion Transmission
RA-L 2021
In this letter, we introduced a novel 2-DOF robotic wrist with a hollow channel. The proposed wrist was developed by stacking two symmetric 5R spatial manipulators using a reverse motion transmission mechanism. As a result, the proposed wrist mechanism has not only a wide workspace, but also a huge