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A Study of Feasibility for a New Wrist
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General information
Author Ceccarelli, Marco
Published  Albuquerque, 1996
Edition  
Extend  6 pages
ISBN
Abstract In this paper the kinematic structure of a new wrist is presented.
In this paper the kinematic structure of a new wrist is presented. The kinematic chain is composed of leg mechanisms containing articulated parallelograms and a peculiar connection with ball joints and prismatic guides has been utilised to obtain suitable direct Kinematics and easy actuation. The engineering feasibility has been illustrated by investigating on the basic kinematic performances and force transmission.
Particularly, an analytical algorithm has been developed for displacement
analysis which permits an easy simulation for trajectory and orientation
capabilities of the wrist. The practical feasibility has been enlighten by
analyzing the capabilities with respect to the force transmission in order to
size properly the actuators.
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DMG-Lib FaviconDMG-Lib https://www.dmg-lib.org/dmglib/handler?docum=23674009
Europeana FaviconEuropeana  http://www.europeana.eu/portal/record/2020801/dmglib_handler_docum_23674009.html
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UCAUniv. Cassino  http://webuser.unicas.it/weblarm/larmindex.htm
Administrative information
Time of publication 1996

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