{"title":"A Novel Parallel Manipulator for Rotary Humanoid Wrist Based on Screw Theory","authors":"Guoxin Zhang, Song Zhu, Dachang Zhu, Cui Wu","doi":"10.1109/WKDD.2009.104","DOIUrl":null,"url":null,"abstract":"A class of parallel manipulators known as Rotary Humanoid Wrist (RHW), which is actuated by six circular motors on the circular base and dose not involve any prismatic joint, is analyzed based on screw theory. Model of RHW is build by using simulink tools with constant length limbs. The mobility of RHW is analyzed and the optimal combination of the main parameters for maximizing the workspace volume of RHW is also given","PeriodicalId":143250,"journal":{"name":"2009 Second International Workshop on Knowledge Discovery and Data Mining","volume":"50 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2009-01-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2009 Second International Workshop on Knowledge Discovery and Data Mining","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/WKDD.2009.104","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 0
Abstract
A class of parallel manipulators known as Rotary Humanoid Wrist (RHW), which is actuated by six circular motors on the circular base and dose not involve any prismatic joint, is analyzed based on screw theory. Model of RHW is build by using simulink tools with constant length limbs. The mobility of RHW is analyzed and the optimal combination of the main parameters for maximizing the workspace volume of RHW is also given
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