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Volume 19 Issue 01 - Publications Date: 1 January 2000
 
Argos: A Novel 3-DoF Parallel Wrist Mechanism
 
P. Vischer and R. Clavel
 
This article presents a novel parallel spherical mechanism called Argos with three rotational degrees of freedom. Design aspects of the first prototype built of the Argos mechanism are discussed. The direct kinematic problem is solved, leading always to four nonsingular configurations of the end effector for a given set of joint angles. The inverse-kinematic problem yields two possible configurations for each of the three pantographs for a given orientation of the end effector. Potential applications of the Argos mechanism are robot wrists, orientable machine tool beds, joy sticks, surgical manipulators, and orientable units for optical components. A mechanism that is closely to Argos, a new structure named PantoScope that has two rotational DoF, is also introduced.
 
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