id	author	title	date	pages	extension	mime	words	sentence	flesch	summary	cache	txt
ajst-1532	Zhang, Liang; Li, Shuzhen; Shi, Lei; Li, Guofang; Yu, Jingjing; Shi, Yan	Workspace Analysis for Humanoid Wrist Mechanism	2022	4	.pdf	application/pdf	1989	109	57	According to the orthogonal characteristic and rotation relationship of the mechanism, the vectors of the axes of the rotating pairs connected to the input axes relative to the fixed coordinate system w w w wO X Y Z are given as T 1 6 6(0 sin cos )w   V (3) T 3 7 7( sin cos 0 )w    W (4) Kinematic Analysis The sketch of wrist mechanism designed with 5R parallel mechanism as prototype is shown in Fig.	cache/ajst-1532.pdf	txt/ajst-1532.txt