97 références sur: Robot sphérique

Bibliography

1

Akbarzadeh A. and Enferadi J.
A virtual work based algorithm for solving direct dynamics problem of a 3-RRP spherical parallel manipulator.
J. of Intelligent and Robotic Systems, 63(1):25–49, 1994.
Keywords: spherical robot,dynamics,3 dof robot.

2

Akbarzadeh A., Enferadi J., and Sharifnia M.
Dynamics analysis of a 3-rrp spherical parallel manipulator using the natural orthogonal complement.
Multibody System Dynamics, 29:361–380, 2013.
Keywords: dynamics,spherical robot.

3

Alamdar A. and others .
A geometrical approach for configuration and singularity analysis of a new non-symmetric 2dof 5R spherical parallel manipulator.
Mechanism and Machine Theory, 147, 2020.
Keywords: 2 dof robot,kinematics,singularity,spherical robot,wrist.

4

Alizade R.I., Tagiyev N.R., and Duffy J.
A forward and reverse displacement analysis of an in-parallel spherical manipulator.
Mechanism and Machine Theory, 29(1):125–137, Janvier 1994
Keywords: mechanical architecture,kinematics,spherical robot,workspace,3 dof robot.

5

Al-Widyan K. and Angeles J.
The robust design of parallel spherical robots.
Mechanism and Machine Theory, 46(3):335–343, Mars 2011
Keywords: spherical robot,optimal design,3 dof robot,clearance.

6

Arrouk K.A., Bouzgarrou B.C., and Gogu G.
On the full-spin dexterous orientation workspace of spherical parallel robot of $3-\underline{R}RR$-type.
In EUCOMES, pages 347–354, Aachen, 4-6 Septembre 2018
Keywords: orientation workspace,spherical robot.

7

Asada H. and Granito C.
Kinematic and static characterization of wrist joints and their optimal design.
In IEEE Int. Conf. on Robotics and Automation, pages 244–250, St Louis, 25-28 Mars 1985
Keywords: spherical robot,mechanical architecture,optimal design.

8

Bai S. and Hansen M.R.
Modelling of a spherical robotic wrist with euler parameters.
In 12th IFToMM World Congress on the Theory of Machines and Mechanisms, Besancon, 18-21 Juin 2007
Keywords: spherical robot,wrist.

9

Bai S., Hansen M.R., and Angeles J.
A robust forward-displacement analysis of spherical parallel robot.
Mechanism and Machine Theory, 44(12):2204–2216, Décembre 2009
Keywords: forward kinematics,3 dof robot,spherical robot,wrist.

10

Bai S., Hansen M.R., and Andersen T.O.
Modelling of a special class of spherical parallel manipulators with euler parameters.
Robotica, 27(2):161–170, Mars 2009
Keywords: spherical robot,wrist,workspace.

11

Bai S.
Optimum design of spherical parallel manipulators for a prescribed workspace.
Mechanism and Machine Theory, 45(2):200–211, Février 2010
Keywords: spherical robot,wrist,workspace,optimal design,mechanical architecture,design.

12

Bombin C., Ros L., and Thomas F.
On the computation of the direct kinematics of parallel spherical mechanism using Bernstein polynomials.
In IEEE Int. Conf. on Robotics and Automation, pages 3332–3337, Seoul, 21-26 Mai 2001
Keywords: spherical robot,forward kinematics.

13

Bonev I., Chablat D., and Wenger P.
Working and assembly modes of the Agile Eye.
In IEEE Int. Conf. on Robotics and Automation, pages 2317–2322, Orlando, 16-18 Mai 2006
Keywords: spherical robot,singularity,forward kinematics.

14

Boudreau R., Darenfed S., and Turkkan N.
Etude comparative de trois nouvelles approches pour la solution du problème géométrique direct des manipulateurs parallèles.
Mechanism and Machine Theory, 33(5):463–477, Juillet 1998
Keywords: forward kinematics,spherical robot.

15

Boudreau R., Levesque G., and Darenfed S.
Parallel manipulator kinematics learning using holographic neural network models.
Robotics and Computer-Integrated Manufacturing, 14(1):37–44, 1998.
Keywords: forward kinematics,spherical robot,planar robot,neurons networks.

16

Bulca F., Angeles J., and Zsombor-Murray P.J.
On the workspace determination of spherical serial and platform mechanisms.
Mechanism and Machine Theory, 34(3):497–512, Avril 1999
Keywords: spherical robot,workspace.

17

Cammarata A. and others .
Dynamic stiffness model of spherical parallel robots.
Journal of Sound and Vibration, 384:312–324, 2016.
Keywords: stiffness,spherical robot,dynamics,statics.

18

Carbonari L. and others .
Analysis of kinematics and reconfigurability of a spherical parallel manipulator.
IEEE Trans. on Robotics, 30(6):1541–1547, Décembre 2014
Keywords: spherical robot,3 dof robot,kinematics,kinetics,singularity.

19

Celaya E.
Interval propagation for solving parallel spherical mechanisms.
In ARK, pages 415–422, Caldes de Malavalla, 29 Juin-2 Juillet, 2002
Keywords: forward kinematics,spherical robot.

20

Chablat D. and Angeles J.
The computation of all 4r serial spherical wrists with an isotropic architecture.
In F.C. Park C.C. Iurascu, editor, Computational Kinematics, pages 1–10. EJCK, 20-22 Mai 2001
Keywords: spherical robot,isotropy.

21

Chablat D. and others .
Workspace analysis in the design parameter space of a 2-dof spherical parallel mechanism for a prescribed workspace: Application to the otologic surgery.
Mechanism and Machine Theory, 157, 2021.
Keywords: spherical robot,2 dof robot,workspace,medical,applications.

22

Chaker A. and others .
Clearance and manufacturing errors effects on the accuracy of the 3-RCC spherical parallel manipulators.
In RoManSy, Paris, 12-15 Juin 2012
Keywords: 3 dof robot,wrist,spherical robot,accuracy,clearance.

23

Chaker A. and others .
Clearance and manufacturing errors effects on the accuracy of the 3-RCC spherical parallel manipulator.
European Journal of Mechanics A/Solids, 27:86–95,   Janvier-  Février, 2013
Keywords: spherical robot,3 dof robot,clearance,accuracy.

24

Chen Y. and others .
Error modeling and analysis of a spherical parallel mechanism with a multiloop circuit incremental method.
Mechanism and Machine Theory, 191, 2024.
Keywords: spherical robot,accuracy.

25

Corinaldi D. and others .
Rotational mobility analysis of the 3-RFR class of spherical parallel robot.
In ARK, Bologna, 1-5 Juillet 2018
Keywords: spherical robot,singularity.

26

Craver W.M.
Structural analysis and design of a three-degree-of-freedom robotic shoulder module.
Master's thesis, The University of Texas, Austin, 1989.
Keywords: spherical robot,mechanical architecture,3 dof robot.

27

Degirmency A. and others .
Design and control of a parallel linkage wrist for robotic microsurgery.
In IEEE Int. Conf. on Intelligent Robots and Systems (IROS), Hamburg, Germany, 28 Septembre-2 Octobre, 2015
Keywords: spherical robot,wrist,2 dof robot,hybrid robot,applications,medical.

28

Di Gregorio R. and Parenti-Castelli V.
Geometric error effects on the performances of a parallel wrist.
In 3rd Chemnitzer Parallelkinematik Seminar, pages 1011–1024, Chemnitz, 23-25 Avril 2002
Keywords: spherical robot,performance analysis,accuracy.

29

Enferadi J. and Tootoonchi A.A.
A novel spherical parallel manipulator: forward position problem, singularity analysis, and isotropy design.
Robotica, 27(5):663–676, 2009.
Keywords: spherical robot,forward kinematics,optimal design,singularity.

30

Enferadi J. and Tootoonchi A.A.
A novel approach for forward position analysis of a double-triangle spherical parallel manipulator.
European Journal of Mechanics A/Solids, 29(3):348–355,   Mai-  Juin, 2010
Keywords: spherical robot,forward kinematics.

31

Enferadi J. and Tootoonchi A.A.
Accuracy and stiffness analysis of a 3-RRP spherical parallel manipulator.
Robotica, 29(2):193–200, Mars 2011
Keywords: spherical robot,wrist,3 dof robot,accuracy,stiffness.

32

Gallardo J. and others .
A family of spherical parallel manipulators with two legs.
Mechanism and Machine Theory, 43(2):201–216, Février 2008
Keywords: mechanical architecture,3 dof robot,spherical robot,wrist.

33

Gezgin E. and others .
Structural design of a positioning spherical parallel manipulator to be utilized in brain biopsy.
Int J Med Robotics Comput Assist Surg, 15, 2019.
Keywords: medical,applications,mechanical architecture,spherical robot.

34

Gosselin C.
Kinematic analysis optimization and programming of parallel robotic manipulators.
Ph.D. Thesis, McGill University, Montréal, 15 Juin 1988
Keywords: mechanical architecture,optimal design,planar robot,kinematics,spherical robot,workspace.

35

Gosselin C. and Angeles J.
The optimum kinematic design of a spherical three-degree-of-freedom parallel manipulator.
J. of Mechanisms, Transmissions and Automation in Design, 111(2):202–207, 1989.
Keywords: spherical robot,workspace,isotropy,singularity,design,3 dof robot,wrist.

36

Gosselin C. and Lavoie E.
Spherical parallel manipulators: dexterity and isotropy.
In ARK, pages 143–149, Ferrare, 7-9 Septembre 1992
Keywords: mechanical architecture,3 dof robot,spherical robot,isotropy,wrist.

37

Gosselin C. and Sefrioui J.
Determination of the singular loci of spherical 3 d.o.f parallel manipulators.
In 22nd Biennial Mechanisms Conf., volume DE-45, pages 329–336, Scottsdale, 13-16 Septembre 1992
Keywords: singularity,spherical robot,wrist.

38

Gosselin C., Sefrioui J., and Richard M.J.
On the direct kinematics of a class of spherical three-degree-of-freedom parallel manipulators.
In 22nd Biennial Mechanisms Conf., pages 13–19, Scottsdale, 13-16 Septembre 1992
Keywords: spherical robot,forward kinematics,wrist.

39

Gosselin C., Sefrioui J., and Richard M.J.
On the direct kinematics of general spherical three-degree-of-freedom parallel manipulators.
In 22nd Biennial Mechanisms Conf., pages 7–11, Scottsdale, 13-16 Septembre 1992
Keywords: spherical robot,forward kinematics,wrist.

40

Gosselin C.M and Lavoie E.
On the kinematic design of spherical three-degree-of-freedom parallel manipulators.
Int. J. of Robotics Research, 12(4):394–402, Août 1993
Keywords: mechanical architecture,3 dof robot,spherical robot,isotropy,wrist.

41

Gosselin C. and Hamel J.-F.
The Agile Eye: A high performance three-degree-of-freedom camera-orienting device.
In IEEE Int. Conf. on Robotics and Automation, pages 781–787, San Diego, 8-13 Mai 1994
Keywords: spherical robot,wrist,3 dof robot.

42

Gosselin C. and Hamel J.-F.
Development and experimentation of a fast three-degree-of-freedom spherical parallel manipulator.
In ISRAM, pages 229–234, Hawa&̈#305;, 14-18 Août 1994
Keywords: spherical robot,isotropy,workspace,optimal design,mechanical architecture,3 dof robot,wrist.

43

Gosselin C., Perreault T., and Vaillancourt C.
Smaps: a computer-aided design package for the analysis and optimization of a spherical parallel manipulators.
In ISRAM, pages 115–120, Hawa&̈#305;, 14-18 Août 1994
Keywords: spherical robot,optimal design,mechanical architecture,CAD,workspace,singularity,design,3 dof robot,wrist,simulation.

44

Gosselin C., Sefrioui J., and Richard M.J.
On the direct kinematics of spherical three-degree-of-freedom parallel manipulators with a coplanar platform.
ASME J. of Mechanical Design, 116(2):587–593, Juin 1994
Keywords: forward kinematics,spherical robot.

45

Gosselin C., Cloutier C., and Rancourt D.
Kinematic analysis of spherical two degree-of-freedom parallel manipulators.
In ASME 23rd Biennal Mechanisms Conf., pages 255–262, Minneapolis, 11-14 Septembre 1994
Keywords: spherical robot,2 dof robot,kinematics,workspace.

46

Gosselin C., Sefrioui J., and Richard M.J.
On the direct kinematics of spherical three-degree-of-freedom parallel manipulators of general architecture.
ASME J. of Mechanical Design, 116(2):594–598, Juin 1994
Keywords: forward kinematics,spherical robot.

47

Gosselin C. and Gagné M.
A closed-form solution for the direct kinematics of a special class of spherical three-degree-of-freedom parallel manipulators.
In J-P. Merlet B. Ravani, editor, Computational Kinematics, pages 231–240. Kluwer, 1995.
Keywords: spherical robot,forward kinematics,3 dof robot,wrist.

48

Gosselin C., Perreault L., and Vaillancourt C.
Simulation and computer-aided kinematic design of three-degree-of-freedom spherical parallel manipulators.
J. of Robotic Systems, 12(12):857–869, 1995.
Keywords: kinematics,3 dof robot,spherical robot,workspace,design.

49

Gosselin C. and St-Pierre E.
Development and experimentation of a fast 3-dof orienting device.
Int. J. of Robotics Research, 16(15):619–630, Octobre 1997
Keywords: spherical robot,applications,hardware.

50

Gosselin C.M.
Static balancing of spherical 3-dof parallel mechanisms and manipulators.
Int. J. of Robotics Research, 18(8):812–829, Août 1999
Keywords: spherical robot,balancing.

51

Gosselin C.M. and Wang J.
Singulariti loci of a special class of spherical three degree-of-freedom parallel mechanism with revolute actuators.
Int. J. of Robotics Research, 21(7):649–659, Juillet 2002
Keywords: singularity,spherical robot.

52

Huang Z. and Yao Y.L.
A new closed-form kinematics of the generalized 3-dof spherical parallel manipulator.
Robotica, 17(5):475–485, Septembre 1999
Keywords: forward kinematics,spherical robot.

53

Ji P. and Wu H.T.
Algebraic solution to forward kinematics of a 3-dof spherical parallel manipulator.
J. of Robotic Systems, 18(5):251–257, 2001.
Keywords: forward kinematics,spherical robot.

54

Keler M.L.
Dual expansion of an optimal spherical platform device.
In ARK, pages 79–86, Strobl, 29 Juin-4 Juillet, 1998
Keywords: isotropy,wrist,spherical robot,design theory.

55

Kim W-K., Yi B.J., and Cho W.
RCC characteristics of planar/spherical three degree-of-freedom parallel mechanism with joint compliance.
ASME J. of Mechanical Design, 122(1):10–16, Mars 2000
Keywords: passive compliance,planar robot,spherical robot,passive joints.

56

Kong X. and Gosselin C.M.
Type synthesis of 3-dof spherical parallel manipulators based on screw theory.
In ASME Design Engineering Technical Conference, Montréal, 29 Septembre-2 Octobre, 2002
Keywords: spherical robot,structural synthesis.

57

Kong X. and Gosselin C.M.
Type synthesis of three-degree-of-freedom spherical parallel manipulators.
Int. J. of Robotics Research, 23(3):237–245, Mars 2004
Keywords: spherical robot,structural synthesis.

58

Kong X. and Gosselin C.M.
Type synthesis of 3-dof spherical parallel manipulators based on screw theory.
ASME J. of Mechanical Design, 126(1):101–108, Janvier 2004
Keywords: spherical robot,structural synthesis.

59

Kumar S. and others .
Design and kinematic analysis of the novel almost spherical parallel mechanism active ankle.
J. of Intelligent and Robotic Systems, 95:303–325, 2019.
Keywords: mechanical architecture,spherical robot,kinematics,medical,applications.

60

Larochelle P.M.
Design of 3-dof spherical robotic mechanisms.
In 9th IFToMM World Congress on the Theory of Machines and Mechanisms, pages 1826–1830, Milan, 30 Août-2 Septembre, 1995
Keywords: spherical robot,design,3 dof robot,wrist.

61

Leal-Naranjo J-A. and others .
Comparison of metaheuristic optimization algorithms for dimensional synthesis of a spherical parallel manipulator.
Mechanism and Machine Theory, 140:586–600, 2019.
Keywords: spherical robot,optimal design.

62

Leguay-Durand S. and Reboulet C.
New design of a redundant spherical manipulator.
In 6th ISRAM, pages 365–370, Montpellier, 28-30 Mai 1996
Keywords: mechanical architecture,redundant robot,design,spherical robot,isotropy.

63

Leguay-Durand S. and Reboulet C.
Optimal design of a redundant spherical parallel manipulator.
Robotica, 15(4):399–405, Juillet- Août, 1997
Keywords: mechanical architecture,design,redundant robot,spherical robot,isotropy,optimal design.

64

Li H. and others .
Design and control of 3-dof spherical parallel mechanism robot eyes inspired by the binocular vestibule-ocular reflex.
J. of Intelligent and Robotic Systems, 78(3-4):425–441, Juin 2015
Keywords: spherical robot,control,3 dof robot,applications.

65

Li T. and Payandeh S.
Design of spherical parallel mechanisms for application to laparoscopic surgery.
Robotica, 20(2):133–138, Mars 2002
Keywords: applications,spherical robot,optimal design,medical.

66

Merlet J-P.
Les Robots parallèles.
Hermès, Paris, 1990.

67

Merlet J-P.
Les robots parallèles, 21 Juin 1993
Habilitation à diriger les recherches, UNSA, Nice.

68

Merlet J-P.
Les Robots parallèles.
Hermès, Paris, 1997.

69

Niyetkaliyev A. and Shintemirov A.
An approach for obtaining unique kinematic solutions of a spherical parallel manipulator.
In IEEE/ASME Int. Conf. on Advanced Intelligent Mechatronics, pages 1355–1360, Besancon, 8-11 Juillet 2014
Keywords: spherical robot,kinematics.

70

Paganelli D.
Avoiding parallel singularities of 3UPS and 3UPU spherical wrists.
In IEEE Int. Conf. on Robotics and Automation, pages 1201–1206, Roma, 10-14 Avril 2007
Keywords: 3 dof robot,wrist,spherical robot,singularity.

71

Rad S.A. and others .
Experimental study on robust adaptive control with insufficient excitation of a 3-DOF spherical parallel robot for stabilization purposes.
Mechanism and Machine Theory, 153, 2020.
Keywords: spherical robot,control.

72

Reboulet C. and Leguay S.
The interest of redundancy for the design of a spherical parallel manipulator.
In ARK, pages 369–378, Portoroz-Bernadin, 22-26 Juin 1996
Keywords: spherical robot,design,redundant robot.

73

H. Saafi., Laribi M.A., and Zeghloul S.
Optimal haptic control of a redundant 3-RRR spherical parallel manipulator.
In IEEE Int. Conf. on Intelligent Robots and Systems (IROS), Hamburg, Germany, 28 Septembre-2 Octobre, 2015
Keywords: spherical robot,applications,haptic device,redundant robot,singularity.

74

H. Saafi., Laribi M.A., and Zeghloul S.
Redundantly acctuated 3-RRR spherical parallel manipulator used as a haptic device: improving dexterity and eliminating singularities.
Robotica, 33(5):1113–1130, Juin 2015
Keywords: spherical robot,applications,haptic device,redundant robot,singularity.

75

H. Saafi., Laribi M.A., and Zeghloul S.
Forward kinematic model improvement of a spherical parallel manipulator using an extra sensor.
Mechanism and Machine Theory, 91:102–119, 2015.
Keywords: spherical robot,forward kinematics with redundant sensors.

76

H. Saafi., Laribi M.A., and Zeghloul S.
Optimal torque distribution for a redundant 3-RRR spherical parallel manipulator used as a haptical medical device.
Robotics and Autonomous Systems, 89:40–50, 2017.
Keywords: spherical robot,redundant robot,wrist,medical.

77

Sadjadian H. and Taghirad H.D.
Kinematics, singularity and stiffness analysis of the hydraulic shoulder: a 3-dof redundant parallel manipulator.
Advanced Robotics, 20(7):763–781, 2006.
Keywords: 3 dof robot,spherical robot,hydraulics.

78

Saltarén R. and others .
Performance evaluation of spherical parallel platforms for humanoid robots.
Robotica, 25(3):257–267, Mai 2007
Keywords: spherical robot,wrist,workspace,singularity,performance analysis.

79

Shum J.C.F. and Zsombor-Murray P.J.
Direct kinematics of the double-triangular manipulator: an exercise in geometry thinking.
In ARK, pages 385–394, Piran, 25-29 Juin 2000
Keywords: forward kinematics,spherical robot.

80

Staicu S.
Recursive modelling in dynamics of Agile Wrist spherical parallel robot.
Robotics and Computer-Integrated Manufacturing, 25(2):409–416, Avril 2009
Keywords: dynamics,spherical robot.

81

Takeda Y., Funabashi H., and Sasaki Y.
Analysis of working space and motion transmissibility of spherical in-parallel actuated mechanism.
In ICAR, pages 165–170, Tokyo, 1-2 Novembre 1993
Keywords: mechanical architecture,statics,spherical robot,workspace.

82

Wang J. and Gosselin C.M.
Singularity analysis and design of kinematically redundant parallel mechanism.
In ASME Design Engineering Technical Conference, Montréal, 29 Septembre-2 Octobre, 2002
Keywords: singularity,planar robot,spherical robot,redundant robot.

83

Wang J. and Gosselin C.M.
Singularity loci of a special class of spherical 3-dof parallel mechanisms with prismatic actuators.
ASME J. of Mechanical Design, 126(2):319–326, Mars 2004
Keywords: singularity,3 dof robot,spherical robot.

84

Wang J. and Gosselin C.M.
Kinematic analysis and design of kinematically redundant parallel mechanisms.
ASME J. of Mechanical Design, 126(1):109–118, Janvier 2004
Keywords: redundant robot,planar robot,singularity,3 dof robot,spherical robot,wrist,6 dof robot.

85

Weill A., Langlois R.G., and Hayes M.J.D.
The effect of dual row omnidirectional wheels on the kinematics of the Atlas spherical motion platform.
Mechanism and Machine Theory, 44(2):349–358, Janvier 2009
Keywords: spherical robot,kinematics.

86

Wiitala J.M. and Stanisic M.M.
Kinematics of a split-equator symmetrically actuated double pointing systems used in a robotic wrist.
In ARK, pages 237–246, Strobl, 29 Juin-4 Juillet, 1998
Keywords: mechanical architecture,wrist,spherical robot,2 dof robot.

87

Wiitala J.M. and Stanisic M.M.
Design of an overconstrained and dextrous spherical wrist.
ASME J. of Mechanical Design, 122(3):347–353, Septembre 2000
Keywords: mechanical architecture,wrist,spherical robot,2 dof robot.

88

Wu G., Bai S., and Kepler J.
Mobile platform center shift in spherical parallel manipulators with flexible limbs.
Mechanism and Machine Theory, 75:12–26, Mai 2014
Keywords: performance analysis,spherical robot.

89

Wu G., Caro S., Bai S., and Kepler J.
Dynamic modeling and design optimization of a 3-dof spherical parallel manipulator.
Robotics and Autonomous Systems, 62(10):1377–1386, Octobre 2014
Keywords: dynamics,spherical robot,optimal design,3 dof robot.

90

Wu G., Caro S., and Wang J.
Design and transmission analysis of an asymmetrical spherical parallel manipulator.
Mechanism and Machine Theory, 94, 2015.
Keywords: spherical robot,mechanical architecture,statics.

91

Wu H., G. ans Shen.
Lateral stability of a 3-dof asymmetrical spherical parallel manipulator with a universal joint featuring infinite torsional mouvement.
In ARK, pages 233–241, Bologna, 1-5 Juillet 2018
Keywords: mechanical architecture,spherical robot,stiffness,dynamics.

92

Wu G. and Bai S.
Design and kinematic analysis of a 3-RRR spherical parallel manipulator reconfigured with four-bar linkages.
Robotics and Computer-Integrated Manufacturing, 56:55–65, 2019.
Keywords: spherical robot,modular robot,mechanical architecture,performance analysis.

93

Yi B-J., Freeman R.A., and Tesar D.
Force and stiffness transmission in redundantly actuated mechanisms: the case for a spherical shoulder mechanism.
In 22nd Biennial Mechanisms Conf., pages 163–172, Scottsdale, 13-16 Septembre 1992
Keywords: redundant robot,spherical robot,statics,stiffness,singularity.

94

Zarkandi S.
A new geometric method for singularity analysis of spherical mechanisms.
Robotica, 40(7):475–504, 2022.
Keywords: spherical robot,3 dof robot,mechanical architecture,dynamics,optimal design.

95

Zarkandi S.
Task-based torque minimization of a 3-P$\underline{P}$RR spherical parallel manipulator.
Robotica, 40:475–504, Mars 2022
Keywords: spherical robot,singularity,3 dof robot.

96

Zhang D. and Zhang F.
Design and analysis of a totally decoupled 3-dof spherical parallel manipultator.
Robotica, 29(7):1093–1100, Décembre 2011
Keywords: 3 dof robot,spherical robot,wrist,decoupled robot.

97

Zhang L-J. and others .
Analysis of the workspace of 2-dof spherical 5r parallel manipulator.
In IEEE Int. Conf. on Robotics and Automation, pages 1123–1128, Orlando, 16-18 Mai 2006
Keywords: spherical robot,2 dof robot,workspace.