This paper presents a prototype of a 4-dof robot wrist based on a redundant kinematic parallel structure. It shows the built prototype, and all subsystems are described in detail. The analysis of mechanism topology is performed, so its kinematic structure is characterized in terms of moving links, active and passive joints. By means of developed kinematic model, occurrence of singular configurations is predicted and workspace is evaluated. Finally, actuator driving torques are estimated for some motions of end-effector.

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