A review of spherical motion generation using either spherical parallel manipulators or spherical motors

摘要

In this paper the authors review spherical motion generation by means of parallel manipulators or spherical motors. The state-of-the-art of spherical-motion-generator kinematics, dynamics, design optimization and novel spherical mechanisms with emerging applications are reviewed. New research problems and future developments are discussed. (C) 2019 Elsevier Ltd. All rights reserved.