Velocity analysis of a spherical parallel robot

Abstract

Abstract A spherical mechanism of parallel structure containing three kinematic chains and performing spherical motions is presented. A distinctive feature of the architecture of the spherical mechanisms is the provision of the constancy of the position of the point – center of rotations. This characteristic causes a wide range of applications of these mechanisms. The kinematic analysis of the mechanism is based on the differentiation of the coupling equations imposed by the kinematic chains. As a result of differentiation, a matrix is obtained by means of which it is possible to solve the direct and inverse problems of kinematics. The velocity analysis is necessary to control the robot and its dynamic analysis.