Modeling of A Parallel Wrist Mechanism With Actuator Redundancy

  • Vincent Hayward
  • Ronald Kurtz
Conference paper


Parallel mechanisms can lead to high structural rigidity and good inertial properties, however their utility is generally limited by an inherently small workspace. The use of actuator redundancy can simultaneously increase the workspace and overcome the problems associated with a type of kinematic singularity found in parallel mechanisms. In order to substantiate this idea, a parallel spherical mechanism with actuator redundancy id exhibited and modeled in terms of its kinematics, velocities, singular configurations and finally workspace properties.


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Copyright information

© Springer-Verlag Wien 1991

Authors and Affiliations

  • Vincent Hayward
    • 1
  • Ronald Kurtz
    • 1
  1. 1.Research Center for Intelligent MachinesMcGill UniversityMontréalCanada

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