2-DOF Spherical Parallel Mechanism Capable of Biaxial Swing Motion with Active Arc Sliders

Most articulated robots comprise multiple joints and links that control the position posture of end effector. The kinematic pair arrangement determines characteristics such as output force. link configurations can be classified serial parallel mechanisms. A typical mechanism is spherical (SPM), designed to ensure effector has only rotational degrees freedom. However, not been sufficiently examined in two freedom (2-DOF) SPMs. Herein, we present a basic design method for proposed 2-DOF SPM curved biaxial swing mechanism, with inputs comprising arc sliders. swinging area passive was small, infinite rotation around certain axis achieved without collision or transfer singular posture. Using kinematics this clarified linear roll non-linear pitch output. Moreover, fabricated prototype measured its drive characteristics. results revealed performance greatly dependent on angle, high movable range axis, low axis.