Infinite rotational motion generation and analysis of a spherical parallel manipulator with coaxial input axes
Tursynbek I. Shintemirov A.
October 2021Elsevier Ltd
Mechatronics
2021#78
This paper presents a novel framework for the analysis of a 3-RRR spherical parallel manipulator with coaxial input axes (coaxial SPM) with the focus on its infinite rotational motion capabilities and its effects on the manipulators characteristics. The framework consists of three phases. At first, an approach for obtaining unique solutions of forward and inverse kinematics problems is introduced for setting up univocal relation between coaxial SPMs input joint positions and orientation of its end-effector. At the second phase, a method for generating infinite rotational motions of an end-effector is formulated. The third phase outlines numerical computation procedures of the coaxial SPMs workspaces in the joint and Cartesian spaces, excluding singularity configurations and mechanical collisions of SPMs links during infinite rotational motion. A 3D design model and an experimental prototype of the coaxial SPM is presented and utilized for numerical analysis and experimental verification of the presented framework supplemented by an accompanying video demonstration.
Infinite rotational motion , Joint-space trajectory generation , Kinematic analysis , Motion planning , Spherical parallel manipulator , Workspace analysis
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Department of Robotics and Mechatronics, Nazarbayev University, Nur-Sultan, Kazakhstan
Department of Robotics and Mechatronics
10 лет помогаем публиковать статьи Международный издатель
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