Spherical Parallel Mechanism with Variable Target Point

  • Yukio TakedaEmail author
  • Tsuyoshi Ikeda
  • Daisuke Matsuura
Conference paper
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 15)


This paper proposes a position-orientation decoupled parallel mechanism with five degrees of freedom, in which rotational motion of the output link around two axes is controlled by two inputs while translational motion of the target point, the center of rotation of the output link, is controlled by the other three inputs. This mechanism is composed of three connecting chains; one for controlling the position of the target point and two for generating rotational output motion. Conditions of kinematic structures of these chains are discussed and a concrete mechanism is shown. Inverse displacement analysis and Jacobian analysis of this mechanism are carried out to confirm its decoupled feature without encountering the singular point.


Kinematics  Spherical parallel mechanism  Structural synthesis  Position-orientation decoupled mechanism  Displacement analysis  Singularities  


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Copyright information

© Springer Science+Business Media Dordrecht 2014

Authors and Affiliations

  • Yukio Takeda
    • 1
    Email author
  • Tsuyoshi Ikeda
    • 1
  • Daisuke Matsuura
    • 1
  1. 1.Department of Mechanical Sciences and EngineeringTokyo Institute of TechnologyMeguro-kuJapan

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