Inverse Kinematics of the Spherical Parallel Mechanism with Linear Actuators

The article discusses an algorithm for solving the inverse kinematics for a spherical parallel mechanism, whose distinctive feature is the use of linear drives. Using a detailed example of one of the three kinematic chains of the mechanism, the constraint equation is derived and its analytical solution is presented. For the other two kinematic chains, the constraint equations and their solutions are obtained by analogy with the first chain. Solving the inverse kinematics is the first and most important stage necessary for the subsequent analysis of the kinematics, dynamics, and workspace of the mechanism.
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