Parallel Robots with Homokinetic Joints: The Zero-Torsion Case

  • Yuanqing WuEmail author
  • J. M. Selig
  • Marco Carricato
Conference paper
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 73)


A two degree-of-freedom (DoF) homokinetic joint provides the freedom of spatially pointing directions without spinning (zero torsion). In this paper, we investigate structural synthesis of several classes of zero-torsion parallel robots using homokinetic joints.


homokinetic joint parallel robot type synthesis symmetric subspace 


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Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  1. 1.University of BolognaBolognaItaly
  2. 2.London South Bank UniversityLondonUK

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