S-(nS)PU-SPU and S-(nS)PU-2SPU are two out of three types of under-actuated wrists that are generated from the “ordinary” wrists of type S-3SPU (fully-parallel wrists), by replacing a spherical pair (S) with a nonholonomic spherical pair (nS) according to the rules stated in . Position analysis, controllability, and path planning of these two wrist types have been addressed and solved in two previous papers [2, 3] of this author. Their kinetostatics and singularity analysis have not been addressed, yet; and they are studied in this paper.
Instantaneous Kinematics and Singularities of Two Types of Under-Actuated Parallel Wrists
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Di Gregorio, R. "Instantaneous Kinematics and Singularities of Two Types of Under-Actuated Parallel Wrists." Proceedings of the ASME 2012 11th Biennial Conference on Engineering Systems Design and Analysis. Volume 3: Advanced Composite Materials and Processing; Robotics; Information Management and PLM; Design Engineering. Nantes, France. July 2–4, 2012. pp. 117-125. ASME. https://doi.org/10.1115/ESDA2012-82084
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