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2 DoF spherical connection control 5




Blue and orange parts are connected by a spherical joint with a pin (in red). It can be replaced with a Hook joint to get larger rotary angles.

Blue and green parts are connected by a planar joint.

Inputs: orange and green parts.

Output: blue part of 2 degrees of freedom (rotations).

Advantage: motors (not shown) are base grounded.

The combination of input velocities or turning angles gives various output motions or positions.




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