The Carpal Wrist is a novel, parallel-architecture device that exhibits many features desirable in a robotic wrist. Previous static analysis has verified the large, singularity-free workspace and the excellent force-bearing ability of the Carpal Wrist. Here, the parallel structure is shown to be particularly advantageous when considered dynamically due to its lightweight structure and multiple load bearing members. The dynamic equations of motion are derived in closed form by direct application of Lagrange’s equations to the kinematic model. The model assumes a relatively massive tool and includes all gravitational, inertial, and gyroscopic effects. The equations of motion provide closed-form evaluation of the actuation moments based on general tool trajectories.

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