… manipulator is a parallel wrist. In this paper it is demonstrated that the 3-UPU architecture,
can be employed to obtain parallel wrists, named 3-UPU wrists. Moreover, it is shown that the …

… This paper presents the static analysis of the 3-UPU wrist … form orientation, and the 3-UPU
wrist geometric constants. The … [6] JJ Lee and SL Chang, “On the kinematics of the UPS wrist …

… This paper deals with the use of a novel 3-UPU spherical wrist manipulator as a sun
tracking system. Twelve kinematic equations modelling the tracking of the sun are derived and …

… parallel manipulator, viz., the 3-UPU wrist that can be used for sun … In addition, the 3-UPU
can be reconfigured to be used either in … This work presents the kinematic analysis, control and …

… The described method is directly applicable to all wrists whose direct kinematics equations
have the same structure as (4), and to any other mechanism, provided that all the critical …

… kinematics and statics methodology to analyze a 3−UPU (U represents universal joint, P
represents prismatic joint) manipulator in screw coordinates. The 3−UPU … UPU kinematic chains. …

… kinematics and singularity of the spherical 3-UPU parallel manipulator. Firstly the structure of
the spherical 3-UPU … study of 3-UPU wrist manipulator where we solve the kinematic model …

… 3-UPU architectures feature two rigid bodies connected to one another through three kinematic
… All the design tools have been developed for both translational 3-UPUs and 3-UPU wrists…

… 3-UPU manipulator having three extensible legs and 3 translational degrees of fkeedom.
The kinematics … The resulting kinematic equations are symmetric with respect to the three tool …

… Using the inverse kinematics solution the 3-UPU robot is controlled to perform rehabilitation
task. … It is discovered in this research that the 3-UPU wrist manipulator can be applied to the …