The Workspace of Three-Degree-of-Freedom, Four-Jointed Spherical Wrist Mechanisms

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dc.contributor.authorLin, Chen-Chouen_US
dc.contributor.authorTsai, L.W.en_US
dc.contributor.departmentISRen_US
dc.date.accessioned2007-05-23T09:46:13Z
dc.date.available2007-05-23T09:46:13Z
dc.date.issued1990en_US
dc.description.abstractIn this paper, orientational workspace of three-degree-of- freedom, four-jointed spherical wrist mechanisms have been investigated. We have derived the workspace boundary equations via both geometric consideration and Jacobian analysis. It is shown that for the first type wrist mechanisms with links 2 and 3 coupled, the workspace boundary consists of circles centered at fixed axis of rotation; while for the second type mechanisms with links 1 and 2 coupled, the boundary consists of two branches of curves. The workspace is divided by inner and outer boundaries into regions of accessibility zero, two and four. The criteria for full workspace design as well as for maximum four-root region have been established.en_US
dc.format.extent1478550 bytes
dc.format.mimetypeapplication/pdf
dc.identifier.urihttp://hdl.handle.net/1903/5005
dc.language.isoen_USen_US
dc.relation.ispartofseriesISR; TR 1990-57en_US
dc.subjectkinematicsen_US
dc.subjectroboticsen_US
dc.subjectIntelligent Servomechanismsen_US
dc.titleThe Workspace of Three-Degree-of-Freedom, Four-Jointed Spherical Wrist Mechanismsen_US
dc.typeTechnical Reporten_US

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