Kinematic analysis of a three degree-of-freedom spherical wrist actuator

Presents the kinematic analysis of a three degree-of-freedom (DOF) spherical motor which presents some attractive features by combining pitch, roll, and yaw motion in a single joint. Besides being a compact design, the spherical motor possesses no gears or linkages and has no singularities within its workspace. The spherical motor presented operates on the principle of variable-reluctance (VR). In particular, the theoretical design basic for spherical VR motor is established. The concept feasibility, the design methodology, the motion simulation of a particular design configuration are demonstrated.<>