Kinematic Analysis of a Spherical Parallel-Structure Mechanism with a Single Degree of Freedom and Three Regulators

The development of new classes and types of parallel-structure mechanisms is a highly relevant task for various industries. This paper presents a kinematic analysis of a spherical parallel mechanism with a single degree of freedom and three kinematic chains featuring adjustable cranks. Both analytical and numerical methods were employed. The forward and inverse kinematic problems were solved, and the positions of the output link were determined. Singular configurations were identified and analyzed. It is shown that, due to specific design features, these singular configurations do not affect the mobility of the mechanism.
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