Design and Modeling of a 2DOF CableDriven Parallel Wrist Mechanism This paper proposes a novel design of 2DOF Cable Driven Parallel Wrist Mechanism (CDPWM). This mechanism can achieve hemispherical movement in space which has a unconventional twin actuation. The configuration has a great flexibility (with no singular points within the entire motion range), and a large stiffness of 1.07 xc3x97 106 Nmmrad. This work utilized a vector analysis method to establish the kinematic model of this construction and the stiffness performance of the mechanism was also analyzed. The proposed model can deeply simplify the kinematics solution of this type of cable driven system with a maximum position error of 0.03 mm. Based on this method, the velocity Jacobian of the mechanism was also constructed. Then the stiffness of the mechanism was theoretically modeled, and validated through the finite element method (FEM).

Kinematics, Design and Experimental Validation of a Novel Parallel Robot for TwoFingered Dexterous Manipulation Twofingered manipulation robotic systems are widely used in many application sand notably at small scales. The commonly employed solution is based on the attachment of a gripper on a robot. This paper introduces a new eight degrees of freedom (DoF) mechanism intended for twofingered dexterous manipulation. The eight DoFs are obtained via a parallel architecture moved by eight actuators that are attached to the base of the robot. The novelty lies in the use of a 2DoF configurable platform that insures two relative rotations of the gripper jaws (opening and twisting) in addition to the 6DoF Cartesian movements. The paper presents the kinematics and the design of a proofofconcept able to grasp, roll, translate and rotate objects in a single compact design. A prototype is operated to manipulate and insert a 2mm screw.