A design of 2-DoFs spherical parallel manipulator with adjustable workspace

Spherical parallel manipulators (SPMs) have promising industrial applications due to their strong mechanical performance. However, they face challenges such as singularity avoidance, tight tolerance manufacturing requirements, and the need for versatile and dexterous end-effector functionalities. Additionally, SPMs lack customizability due to singularity and collision issues. This work introduces a novel design principle that addresses these challenges by benchmarking two analytical methods: structural synthesis using screw theory and dimensional synthesis using dimensionless parameters. A proof of concept of a 2-DoF SPM that can operate within a cylindrical constraint and realize a full workspace without collision is presented. This design allows for adjustable reachable workspace at the end-effector, despite significant geometric constraints. These findings on mechanical design solutions provide customizability for SPMs, and a 3D model with an aspect ratio of 1/12 is presented and discussed for potential practical applications. Overall, it is identified that both a simulation using Recurdyn and inverse kinematic model show the desired movements at the moving platform with the maximum error of 0.0013 degrees.