Parallel Spherical 2 DOF Wrist with Anti-Twist

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Spherical Anti-Twist Wrist Spherical Anti-Twist Wrist
SERIAL PARALLEL WRIST MECHANISM SERIAL PARALLEL WRIST MECHANISM
2 DoF spherical connection control 1 2 DoF spherical connection control 1
2-DOF wrist mechanism with large range of motion 2-DOF wrist mechanism with large range of motion
2 DoF spherical connection control 2 2 DoF spherical connection control 2
Omni-Wrist III (2-DOF Wrist Mechanism) Omni-Wrist III (2-DOF Wrist Mechanism)
Spherical Parallel Manipulator - Agile Joint - Twisting Spherical Parallel Manipulator - Agile Joint - Twisting
Controlling a disk of 3 rotational DOF Controlling a disk of 3 rotational DOF