Parallel kinematic structures constitute promising alternative architectures, when compared to their serial counterparts, for developing positioning and orienting robotic mechanisms. The present author, in a previous work, proposed a qualitative procedure that enables the designer to compare kinematic structures from a group of candidates for robotic wrist applications. Among one of the architectures recommended by the method—the 3 —is theoretically analyzed here, so its kinematic performance is evaluated. In order to verify the theoretical results, a prototype of the kinematic parallel structure considered is tested and its behavior is observed under operating conditions.
Issue Section:
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