{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,2]],"date-time":"2026-05-02T09:55:06Z","timestamp":1777715706815,"version":"3.51.4"},"reference-count":20,"publisher":"SAGE Publications","issue":"1","license":[{"start":{"date-parts":[[2000,1,1]],"date-time":"2000-01-01T00:00:00Z","timestamp":946684800000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["The International Journal of Robotics Research"],"published-print":{"date-parts":[[2000,1]]},"abstract":"<jats:p>This article presents a novel parallel spherical mechanism called Argos with three rotational degrees of freedom. Design aspects of the first prototype built of the Argos mechanism are discussed. The direct kinematic problem is solved, leading always to four nonsingular configurations of the end effector for a given set of joint angles. The inverse-kinematic problem yields two possible configurations for each of the three pantographs for a given orientation of the end effector. Potential applications of the Argos mechanism are robot wrists, orientable machine tool beds, joy sticks, surgical manipulators, and orientable units for optical components. Another pantograph based new structure named PantoScope having two rotational DoF is also briefly introduced.<\/jats:p>","DOI":"10.1177\/02783640022066707","type":"journal-article","created":{"date-parts":[[2003,7,19]],"date-time":"2003-07-19T02:59:46Z","timestamp":1058583586000},"page":"5-11","source":"Crossref","is-referenced-by-count":94,"title":["Argos: A Novel 3-DoF Parallel Wrist Mechanism"],"prefix":"10.1177","volume":"19","author":[{"given":"Peter","family":"Vischer","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Reymond","family":"Clavel","sequence":"additional","affiliation":[{"name":"Institute of Robotic Systems, Swiss Federal Institute of Technology, 1015                         Lausanne, Switzerland"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"179","published-online":{"date-parts":[[2000,1,1]]},"reference":[{"key":"atypb1","doi-asserted-by":"crossref","unstructured":"Asada, H., and Cor Granito, J. A. 1985 (St. Louis, MO). Kinematic and static characterization of wrist joints and their optimal design . Proc. of the IEEE Intl. Conf. on Robot. and Automat. Los Alamitos, CA: IEEE, pp. 244\u2013250 .","DOI":"10.1109\/ROBOT.1985.1087324"},{"key":"atypb2","unstructured":"Baumann, R., Glauser, D., and Tappy, D. 1996 (San Diego, CA). Force feedback for virtual reality based minimally invasive surgery simulator . Proc. of Med. Meets Virtual Reality, vol. 4, pp. 564\u2013579 ."},{"key":"atypb3","unstructured":"Clavel, R. 1985. Device for the displacement and the positioning of an element in space, Swiss patent n\u00b0 672089 A5. (Dispositif pour le d\u00e9placement et le positionnement d\u2019un \u00e9l\u00e9ment dans l\u2019espace. Brevet Suisse 672089 A5)."},{"key":"atypb4","unstructured":"Clavel, R. 1991. Conception d\u2019un robot parall\u00e9le rapide \u00e0 4 degr\u00e9s de libert\u00e9. 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