A kinematic concept of a redundant wrist with parallel structureis presented. This new device transforms the movement of four actuatorsacting along parallel directions of space, in a motion with threerotations around a fixed point. The properties of this new device arevery interesting because they allow the direct mechanical couplingbetween a master system and a slave device. This mode of coupling allowsus to realize teleoperation; moreover its thread-like morphology makesit well suited to the applications in the surgical field. This newredundant morphology is presented as well as a complete kinematicanalysis which has shown that actuator redundancy not only removessingularities but also increases workspace while improving dexterity.Finally a dexterity measure and the optimal design of the mechanism arepresented
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