3-DOF Spherical Parallel Mechanism

  • Gleb S. Filippov
  • Victor A. Glazunov
  • Anna N. TerekhovaEmail author
  • Aleksey B. Lastochkin
  • Robert A. Chernetsov
  • Lyubov V. Gavrilina
Conference paper
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 1126)


The paper presents a spherical parallel mechanism with three dimensions of freedom, the scope of this robot we see in minimally invasive surgery. The mechanism contains three kinematic chains with three rotational kinematic pairs; all rotational actuators have the same basis vector. The paper contains the positioning problem solution, the kinematic analysis based on the screw theory and Gosselin-Angeles approach, the dynamic analysis based on Euler dynamic equations. Based on this data the control algorithm is proposed and numerical simulation performed.


Spherical parallel mechanism Inverse position problem Kinematic analysis Dynamics Control algorithm Matrix Angeles-Gosseline Theory of screws 



The work was supported by the Russian Foundation for basic research (project 16-29-04273).


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Copyright information

© The Editor(s) (if applicable) and The Author(s), under exclusive license to Springer Nature Switzerland AG 2020

Authors and Affiliations

  • Gleb S. Filippov
    • 1
  • Victor A. Glazunov
    • 1
  • Anna N. Terekhova
    • 1
    Email author
  • Aleksey B. Lastochkin
    • 1
  • Robert A. Chernetsov
    • 1
  • Lyubov V. Gavrilina
    • 1
  1. 1.Mechanical Engineering Research Institute of the Russian Academy of SciencesMoscowRussian Federation

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