Sunhyuk Baek

Development of a Spherical 2-DOF Wrist Employing Spatial Parallelogram Structure

A spherical two-degree-of- freedom wrist adapting the structure of the spatial parallelogram is proposed. A U type extended link out of three UU type limbs of the spatial parallelogram is selected as an output link. As a result, the wrist can be interpreted as being formed by combination of a U type…