{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,7,12]],"date-time":"2025-07-12T01:22:17Z","timestamp":1752283337277,"version":"3.40.5"},"reference-count":44,"publisher":"Cambridge University Press (CUP)","issue":"7","license":[{"start":{"date-parts":[[2018,5,23]],"date-time":"2018-05-23T00:00:00Z","timestamp":1527033600000},"content-version":"unspecified","delay-in-days":0,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2019,7]]},"abstract":"<jats:title>SUMMARY<\/jats:title><jats:p>We present singularity-free workspace optimization of a class of two-degree-of-freedom (2-DoF) parallel wrists with large rotation range capability. The wrists in consideration are kinematically equivalent to two families of 2-DoF homokinetic couplings. The first family comprises fully parallel wrists with<jats:italic>N<\/jats:italic>(<jats:italic>N<\/jats:italic>\u2265 3) double-universal (<jats:inline-formula><jats:alternatives><jats:inline-graphic xmlns:xlink=\"http:\/\/www.w3.org\/1999\/xlink\" mime-subtype=\"gif\" xlink:type=\"simple\" xlink:href=\"S0263574718000413_inline1\"\/><jats:tex-math>$\\mathcal{UU}$<\/jats:tex-math><\/jats:alternatives><\/jats:inline-formula>) legs. The second family comprises spherical<jats:italic>N<\/jats:italic>-<jats:inline-formula><jats:alternatives><jats:inline-graphic xmlns:xlink=\"http:\/\/www.w3.org\/1999\/xlink\" mime-subtype=\"gif\" xlink:type=\"simple\" xlink:href=\"S0263574718000413_inline1\"\/><jats:tex-math>$\\mathcal{UU}$<\/jats:tex-math><\/jats:alternatives><\/jats:inline-formula>parallel wrists with interconnecting revolute (<jats:inline-formula><jats:alternatives><jats:inline-graphic xmlns:xlink=\"http:\/\/www.w3.org\/1999\/xlink\" mime-subtype=\"gif\" xlink:type=\"simple\" xlink:href=\"S0263574718000413_inline2\"\/><jats:tex-math>$\\mathcal{R}$<\/jats:tex-math><\/jats:alternatives><\/jats:inline-formula>) joints. Both families belong to the more general class of zero-torsion parallel manipulators, and are, therefore, collectively referred to as zero-torsion wrists (ZTWs). We carry out a unified singularity-free workspace optimization by utilizing geometric properties of zero-torsion motion manifolds. Our work may serve as a conceptual guide to the design of ZTWs for large tilt-angle applications.<\/jats:p>","DOI":"10.1017\/s0263574718000413","type":"journal-article","created":{"date-parts":[[2018,5,23]],"date-time":"2018-05-23T08:19:53Z","timestamp":1527063593000},"page":"1174-1189","source":"Crossref","is-referenced-by-count":3,"title":["Workspace optimization of a class of zero-torsion parallel wrists"],"prefix":"10.1017","volume":"37","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-5846-9405","authenticated-orcid":false,"given":"Yuanqing","family":"Wu","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Marco","family":"Carricato","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2018,5,23]]},"reference":[{"key":"S0263574718000413_ref24","doi-asserted-by":"publisher","DOI":"10.1115\/1.4037547"},{"key":"S0263574718000413_ref39","doi-asserted-by":"publisher","DOI":"10.1115\/1.2912772"},{"key":"S0263574718000413_ref43","unstructured":"C. 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