Spherical Parallel Manipulator

A 3D printed prototype of spherical parallel manipulator (SPM) with revolute joints consists of two pyramid-shape platforms, a base and a top mobile platforms, connected by three equally spaced legs each having two curved links. The lower links of SPM are rotated with three Dynamixel MX-106 servomotors fixed to the base platform. A joystick is used to demonstrate the performance of SPM. Astana LAboratory for Robotics and Intelligent Systems (ALARIS). Nazarbayev University, Astana, Kazakhstan.