Mechanism HexaSphere
Spherical mechanism HexaSphere has been developed as an equivalent to traditional Cardan hinge. It is a representative of redundantly actuated mechanisms with parallel kinematical structures and has very promising properties:
- large workspace (±100°) with no singularities
- dexterity changing just moderately within the whole workspace
- high accuracy, stiffness and dynamics
- redundancy enables on-line determination & compensation of thermal deformation