# The Improved DLR Wrist: Design and Analysis of 2-Degrees-of-Freedom Rotational Mechanism Using Spatial Antiparallelogram Linkages

> Research article (Journal of Mechanical Design, 2020) · cited 12× · AI/ML

**Wikidata**: [openalex:W3092087913](https://www.wikidata.org/wiki/openalex:W3092087913)  
**Source**: https://4ort.xyz/entity/the-improved-dlr-wrist-design-and-analysis-of-2-degrees-of-freedom-rotational-mechanism-using-spatial-antiparallelogram-