2018
Kinematic Optimization of a Novel Partially Decoupled Three Degree of Freedom Hybrid Wrist Mechanism
ICRA 2018poster
This paper discusses the kinematic design and geometric optimization of a novel hybrid three degree-of-freedom (DOF) wrist mechanism. The architecture consists of a one prismatic-revolute-universal linkage and one prismatic-spherical-spherical linkage in parallel with a revolute-universal linkage. T…