{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,9,17]],"date-time":"2025-09-17T16:19:03Z","timestamp":1758125943693,"version":"3.44.0"},"reference-count":19,"publisher":"Emerald","issue":"4","content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2025,9,19]]},"abstract":"\n Purpose<\/jats:title>\n This study aims to design a novel 3 degree-of-freedom parallel-driven hydraulic wrist (PHW) joint, characterized by a compact structure, heavy payload capacity and spherical workspace.<\/jats:p>\n <\/jats:sec>\n \n Design\/methodology\/approach<\/jats:title>\n In this paper, the kinematics and dynamics mathematical model of PHW is analyzed based on the closed-loop vector method, screw theory and virtual work principle. And the key parameters of PHW are determined based on the singularity analysis. The integrated design method of hydraulic and mechanical systems is used, thereby enabling a hose-less configuration that fosters a low-leakage hydraulic system structure with reduced self-weight. Additionally, this research proposed a dynamic nonlinear compensation control methodology predicated on a payload model to enhance the stability and precision of trajectory tracking for PHW. Finally, several experiments have been conducted to evaluate and validate the performance of the proposed approach and the payload capacity of PHW.<\/jats:p>\n <\/jats:sec>\n \n Findings<\/jats:title>\n Experiment results show that PHW has a payload-to-self-weight ratio of 4(payload 14\u2009kg with self-weight 3.5\u2009kg) under supply pressure 7\u2009MPa. The experimental assessment of payload capacity substantiates the efficacy of the dynamic nonlinear compensation control method for PHW. Remarkably, the trajectory tracking errors for PHW remain under 0.03\u2009rad, even when subjected to payloads of 10.5 and 14\u2009kg.<\/jats:p>\n <\/jats:sec>\n \n Originality\/value<\/jats:title>\n This study presents an effective parallel hydraulic-driven wrist structure. This parallel structure provides a spherical workspace with flexible motion, and larger payload capacity compared with the existing robot wrist.<\/jats:p>\n <\/jats:sec>","DOI":"10.1108\/ir-08-2024-0363","type":"journal-article","created":{"date-parts":[[2025,1,24]],"date-time":"2025-01-24T23:03:18Z","timestamp":1737759798000},"page":"464-476","source":"Crossref","is-referenced-by-count":0,"title":["Mechanism analysis and structural design of parallel-driven hydraulic wrist joint"],"prefix":"10.1108","volume":"52","author":[{"given":"Zhenguo","family":"Tao","sequence":"first","affiliation":[{"name":"Harbin Institute of Technology State Key Laboratory of Robotics and System, , Harbin,","place":["China"]}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Xu","family":"Li","sequence":"additional","affiliation":[{"name":"Harbin Institute of Technology State Key Laboratory of Robotics and System, , Harbin,","place":["China"]}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Haibo","family":"Feng","sequence":"additional","affiliation":[{"name":"Harbin Institute of Technology State Key Laboratory of Robotics and System, , Harbin,","place":["China"]}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Songyuan","family":"Zhang","sequence":"additional","affiliation":[{"name":"Harbin Institute of Technology State Key Laboratory of Robotics and System, , Harbin,","place":["China"]}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yili","family":"Fu","sequence":"additional","affiliation":[{"name":"Harbin Institute of Technology State Key Laboratory of Robotics and System, , Harbin,","place":["China"]}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"140","published-online":{"date-parts":[[2025,1,28]]},"reference":[{"issue":"12","key":"2025091707175928400_ref001","doi-asserted-by":"crossref","first-page":"2661","DOI":"10.1002\/jor.24435","article-title":"Predicting carpal bone kinematics using an expanded digital database of wrist carpal bone anatomy and kinematics","volume":"37","author":"Akhbari","year":"2019","journal-title":"Journal of Orthopaedic Research"},{"issue":"3","key":"2025091707175928400_ref002","doi-asserted-by":"crossref","first-page":"231","DOI":"10.1007\/BF00248135","article-title":"The principle of virtual work and integral laws of motion","volume":"69","author":"Antman","year":"1979","journal-title":"Archive for Rational Mechanics and Analysis"},{"issue":"6446","key":"2025091707175928400_ref003","doi-asserted-by":"crossref","DOI":"10.1126\/science.aat8414","article-title":"Trends and challenges in robot manipulation","volume":"364","author":"Billard","year":"2019","journal-title":"Science"},{"key":"2025091707175928400_ref004","first-page":"475","article-title":"An evolutionary approach for the optimal design of the ICUB MK.3 parallel wrist","author":"Bsili","year":"2018"},{"issue":"4","key":"2025091707175928400_ref005","doi-asserted-by":"crossref","first-page":"329","DOI":"10.1108\/01445151111172907","article-title":"The bionic handling assistant: a success story of additive manufacturing","volume":"31","author":"Grzesiak","year":"2011","journal-title":"Assembly Automation"},{"issue":"12","key":"2025091707175928400_ref006","doi-asserted-by":"crossref","first-page":"34","DOI":"10.1109\/MSPEC.2019.8913831","article-title":"By leaps and bounds: an exclusive look at how Boston dynamics is redefining robot agility","volume":"56","author":"Guizzo","year":"2019","journal-title":"IEEE Spectrum"},{"issue":"4","key":"2025091707175928400_ref007","doi-asserted-by":"crossref","first-page":"2174","DOI":"10.1109\/TMECH.2020.3033309","article-title":"A novel cable-driven 7-DOF anthropomorphic manipulator","volume":"26","author":"Huang","year":"2020","journal-title":"IEEE\/ASME Transactions on Mechatronics"},{"key":"2025091707175928400_ref008","doi-asserted-by":"crossref","DOI":"10.1109\/IROS47612.2022.9981787","article-title":"A compact, lightweight and singularity-free wrist joint mechanism for humanoid robots","author":"Klas","year":"2022"},{"issue":"1","key":"2025091707175928400_ref009","doi-asserted-by":"crossref","DOI":"10.1007\/s40430-019-2153-5","article-title":"Design and kinematic analysis of a new 3-DOF spherical parallel manipulator for a prosthetic wrist","volume":"42","author":"Leal-Naranjo","year":"2019","journal-title":"Journal of the Brazilian Society of Mechanical Sciences and Engineering"},{"key":"2025091707175928400_ref010","doi-asserted-by":"crossref","DOI":"10.1109\/ICRA.2011.5979775","article-title":"AILA - 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