In the present research, application of the Natural Orthogonal Complement (NOC) for the dynamic analysis of a spherical parallel manipulator, referred to as SST, is presented. Both inverse and direct dynamics are considered. The NOC and the SST...

In this paper, a novel spherical parallel manipulator and

its isotropic design is introduced. This manipulator has

good accuracy and relatively a larger workspace which is

free of singularities. Utilizing spherical configuration...

In this paper, accuracy and stiffness analysis of a 3RRP spherical parallel manipulator (SPM) (Enferadi and Tootoonchi, A novel spherical parallel manipulator: Forward position problem, singularity analysis and isotropy design, Robotica, vol. 27...

Inverse dynamics of a general model of a spherical star-triangle (SST) parallel manipulator (Enferadi and Akbarzadeh Tootoonchi, Robotica 27:663– 676, 2009) is the subject of this paper. This manipulator is of type 3-RRP, ...

In this paper, we use principle of virtual work to obtain the direct dynamics

analysis of a 3-RRP spherical parallel manipulator, also called spherical star-triangle

(SST) manipulator (Enferadi et al., Robotica 27, 2009...

In this paper, we introduce a new approach for forward position analysis of a double-triangle (DT)

spherical parallel manipulator. Utilizing spherical geometry of the manipulator, two coupled trigonometric

equations are obtained...