Mechanical Sciences
Mechanical Sciences
Mechanical Sciences
Articles | Volume 15, issue 2
Articles | Volume 15, issue 2
https://doi.org/10.5194/ms-15-473-2024
© Author(s) 2024. This work is distributed under
the Creative Commons Attribution 4.0 License.
https://doi.org/10.5194/ms-15-473-2024
© Author(s) 2024. This work is distributed under
the Creative Commons Attribution 4.0 License.
Articles | Volume 15, issue 2
Research article
 | 
30 Aug 2024
Research article |  | 30 Aug 2024

Design principles and kinematic analysis of a novel spherical 2-degree-of-freedom (DOF) parallel mechanism

Xuechan Chen, Chao Xin, Zhen Zhang, Yu Guo, An Yin, and Ziming Chen

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Short summary
In this paper, the design principle of the symmetrical spherical parallel mechanism (SPM) is obtained by analyzing the conditions for symmetrical motion of the mechanism. A series of symmetrical SPMs is designed based on the constraint force provided by the branches. The SPM can realize continuous rotation around any line on the mid-plane that passes through the rotation center of the spherical mechanism. This feature has great potential for application in fields such as rehabilitation robotics.
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