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Comments on “Design and analysis of a totally decoupled 3-DOF spherical parallel manipulator” by D. Zhang and F. Zhang (Robotica, Available on CJO 19 Nov, 2010, doi:10.1017/S0263574710000652)

Published online by Cambridge University Press:  01 September 2011

Xianwen Kong ,
Clément Gosselin  and
Marco Carricato
Xianwen Kong
Affiliation:
Department of Mechanical Engineering, School of Engineering and Physical Sciences, Heriot-Watt University, Edinburgh, EH14 4AS, UK E-mail: X.Kong@hw.ac.uk
Clément Gosselin
Affiliation:
Département de Génie Mécanique, Université Laval, Pavillon Adrien-Pouliot, 1065 Avenue de la médecine, QC G1V 0A6, Canada E-mail: gosselin@gmc.ulaval.ca
Marco Carricato
Affiliation:
DIEM—Department of Mechanical Engineering, University of Bologna, Viale Risorgimento 2, 40136 Bologna, BO, Italy E-mail: marco.carricato@unibo.it
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D. Zhang and F. Zhang addressed the issue of designing and analyzing totally decoupled 3-DOF spherical parallel manipulators (SPMs) and concluded that the SPMs in Figs. 5(a) and 5(b) of ref. [1] are completely decoupled and fully isotropic (see Abstract, Section 5, and Conclusions in ref. [1]). This topic is of great interest to researchers working in the general area of parallel mechanisms. However, we disagree with the authors of ref. [1] on their conclusion.

Type
Letter to the Editor
Information
Robotica , Volume 29 , Issue 7 , December 2011 , pp. 1101 - 1103
Copyright
Copyright © Cambridge University Press 2011

References

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