Advanced Search

Journal Navigation

Journal Home

Subscriptions

Archive

Contact Us

Table of Contents

SAGETRACK

Sign In to gain access to subscriptions and/or personal tools.
The International Journal of Robotics Research
This Article
Right arrow Full Text (PDF)
Right arrow References
Right arrow Alert me when this article is cited
Right arrow Alert me if a correction is posted
Services
Right arrow Email this article to a friend
Right arrow Similar articles in this journal
Right arrow Alert me to new issues of the journal
Right arrow Add to Saved Citations
Right arrow Download to citation manager
Right arrowRequest Permissions
Right arrow Request Reprints
Right arrow Add to My Marked Citations
Citing Articles
Right arrow Citing Articles via HighWire
Right arrow Citing Articles via Google Scholar
Right arrow Citing Articles via Scopus
Google Scholar
Right arrow Articles by Carricato, M.
Right arrow Articles by Parenti-Castelli, V.
Right arrow Search for Related Content
Social Bookmarking
Add to CiteULike   Add to Connotea   Add to Del.icio.us   Add to Digg   Add to Reddit   Add to Technorati  
What's this?

A Novel Fully Decoupled Two-Degrees-of-Freedom Parallel Wrist

Marco Carricato

DIEM—Department of Mechanical Engineering, University of Bologna, Viale Risorgimento 2, 40136 Bologna, Italy, marco.carricato{at}mail.ing.unibo.it

Vincenzo Parenti-Castelli

DIEM—Department of Mechanical Engineering, University of Bologna, Viale Risorgimento 2, 40136 Bologna, Italy, vincenzo.parenticastelli{at}mail.ing.unibo.it

In this paper we present a novel pointing parallel mechanism with fully decoupled degrees of freedom. The mechanism consists of two interconnected slider-crank linkages, each one of which independently actuates one of the Euler angles of the output link. Motors can be mounted on the frame. The parallel architecture provides the mechanism with compactness and robustness, while decoupling of motion guarantees a wide workspace, an easy mathematical treatment, and a simple control. Such a mechanism may be suitable for applications that require aiming bodies such as tools, telescopes, antennas, cameras, solar panels, human or humanoid artificial limbs, particularly if requisites on dimensions and stoutness on the one hand and mobility on the other are stringent.

Key Words: parallel mechanisms • pointing systems • decoupled motion

The International Journal of Robotics Research, Vol. 23, No. 6, 661-667 (2004)
DOI: 10.1177/0278364904044077
Add to CiteULike CiteULike   Add to Connotea Connotea   Add to Del.icio.us Del.icio.us   Add to Digg Digg   Add to Reddit Reddit   Add to Technorati Technorati    What's this?


This article has been cited by other articles:


Home page
 The International Journal of Robotics ResearchHome page
M. Carricato
Fully Isotropic Four-Degrees-of-Freedom Parallel Mechanisms for Schoenflies Motion
The International Journal of Robotics Research, May 1, 2005; 24(5): 397 - 414.
[Abstract] [PDF]