Generatively optimised compact 3-DoF spherical parallel manipulator with tightly integrated actuators

Generatively optimised compact 3-DoF spherical parallel manipulator with tightly integrated actuators

A singularity-free pose realization is a key feature for any robotic system. This paper presents the development of a 3-DoF pure rolling spherical parallel manipulator (SPM) with tightly integrated actuators. Conventional serial wrist mechanisms often face singularities and structural constraints, l...

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Bibliographic Details
Main Authors: Kartikeya Walia, William Navaraj, Philip Breedon
Format: Article
Language:English
Published: Frontiers Media S.A. 2025-07-01
Series:Frontiers in Mechanical Engineering
Subjects:
generative design
teleoperated robot
spherical parallel manipulator
omni-wrist
quasi direct drive
Online Access:https://www.frontiersin.org/articles/10.3389/fmech.2025.1629405/full
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