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Kinematics Analysis of a Class of Spherical PKMs by Projective Angles

Department of Mechanical and Industrial Engineering, University of Brescia, 25123 Brescia, Italy
Institute of Intelligent Industrial Technologies and Systems for Advanced Manufacturing, National Research Council, 20133 Milan, Italy
Author to whom correspondence should be addressed.
Robotics 2018, 7(4), 59;
Received: 4 July 2018 / Revised: 17 September 2018 / Accepted: 17 September 2018 / Published: 20 September 2018
(This article belongs to the Special Issue Kinematics and Robot Design I, KaRD2018)
PDF [2530 KB, uploaded 20 September 2018]


This paper presents the kinematics analysis of a class of spherical PKMs Parallel Kinematics Machines exploiting a novel approach. The analysis takes advantage of the properties of the projective angles, which are a set of angular conventions of which their properties have only recently been presented. Direct, inverse kinematics and singular configurations are discussed. The analysis, which results in the solution of easy equations, is developed at position, velocity and acceleration level. View Full-Text
Keywords: projective angles; spherical PKM; direct kinematics; inverse kinematics projective angles; spherical PKM; direct kinematics; inverse kinematics

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Legnani, G.; Fassi, I. Kinematics Analysis of a Class of Spherical PKMs by Projective Angles. Robotics 2018, 7, 59.

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