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Spatial motion control 1




It is a design of Goddard Space Flight Center, USA.

The position and orientation of the orange platform is governed uniquely, in all six degrees of freedom, by the positions of the drivers on the base plate.

The lower ends of the violet limbs are connected via universal joints (2 DoF) to the drivers.

The upper ends of the violet limbs are connected via universal joints (2 DoF) to the platform.

In this video the drivers are pantographs of two degrees of freedom (2 DoF). See:

Other types of drivers of 2 DoF are possible.

This mechanism is used for a minimanipulator producing small, precise motions and high mechanical advantage.




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