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The design of a spherical wrist with parallel architecture is the object ofthis article. This study is part of a larger project, which aims to design andto build an eel robot for inspection of immersed piping. The kinematic analysisof the mechanism is presented first to characterize the singular configurationsas well as the isotropic configurations. We add the design constraints relatedto the application, such as (i) the compactness of the mechanism, (ii) thesymmetry of the elements in order to ensure static and dynamic balance and(iii) the possibility of the mechanism to fill the elliptic form of the ellsections.

Design of a Spherical Wrist with Parallel Architecture: Application to Vertebrae of an Eel Robot