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