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Journal Articles

The Design of a Chain of Spherical Stephenson Mechanisms for a Gearless Robotic Pitch-Roll Wrist

S. Hernandez, S. Bai, J. Angeles
Journal: Journal of Mechanical Design
Article Type: Research Papers
J. Mech. Des. March 2006, 128(2): 422–429.
DOI: https://doi.org/10.1115/1.2167653
Published Online: June 6, 2005
...-rollers and spherical Stephenson linkages, besides two roller-carrying disks that drive a combination of cams and Stephenson mechanisms, the whole system rotating as a differential mechanism. The paper focuses on the design of the chain of spherical Stephenson mechanisms. The problem of the dimensional...
View Article titled, The Design of a Chain of <span class="search-highlight">Spherical</span> <span class="search-highlight">Stephenson</span> <span class="search-highlight">Mechanisms</span> for a Gearless Robotic Pitch-Roll Wrist
Click here to open pdf in another window PDF for The Design of a Chain of <span class="search-highlight">Spherical</span> <span class="search-highlight">Stephenson</span> <span class="search-highlight">Mechanisms</span> for a Gearless Robotic Pitch-Roll Wrist
Topics: Design, Linkages, Chain, Robotics, Cams, Dimensions, Kinematics, Manipulators