Abstract
As an important mechanism with special and extensive application, the three degrees of freedom spherical parallel mechanism is always a research hot in the mechanical fields. In this paper, the feature of the 3-RRR spherical parallel mechanism with coaxial input shafts is introduced, and its motion feature is analyzed based on the screw theory. The mobility of the spherical parallel mechanism is calculated by using the Modified Kutzbach-Grübler criterion, and the inverse displacement problem of the mechanism is solved. Then the expression of the Jacobian matrix is deduced based on the kinematics equation and its inverse solution. The contents of this paper should be useful for the further application of the spherical parallel mechanism.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
