A novel parallel 2-DOF spherical mechanism with one-to-one input-output mapping

This paper presents a novel decoupled parallel 2-DOF spherical mechanism. First, the design idea is introduced based on a general 2-DOF spherical mechanism. Next, following the discussions of some practical types of flat pairs, the new mechanism is given. Besides, the new mechanism uses a planar parallelogram to replace the prismatic pair to achieve the simple kinematics of one-to-one input-output mapping with minimum requirement on actuators. The workspace of the mechanism is also analyzed, in which the effect of friction circle of the revolute joint is considered.

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