Parallel Structures for Robot Wrists

  • François Pierrot
  • Etienne Dombre
Conference paper


An increasing number of researches are currently devoted to parallel manipulators. We show in this paper that attracting parallel structures may be used as wrists, with three intersecting rotational axes. Solutions are proposed and discussed. Corresponding inverse kinematics model is derived.


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Copyright information

© Springer-Verlag Wien 1991

Authors and Affiliations

  • François Pierrot
    • 1
  • Etienne Dombre
    • 1
  1. 1.Sciences et TechniquesLAMM, UA CNRS D03710, Université de Montpellier IIMontpellier Cedex 5France

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