CSC 297 Robot Construction: Joints - Rochester CS
third-arm and could not actually hold and operate a microsur- gical needle [7]. ... DoF spherical five-bar (SFB) parallel linkage robotic wrist. (2-RR) ... joints. Thus parallel mechanisms have increased system bandwidth and transparency due to the reduced distal inertia, ..... The linkage sits on a ball bearing such that loads on .
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