Table 3 Numerical calculation example of the equivalent rotation
From: Motion Characteristics Analysis of a Novel Spherical Two-degree-of-freedom Parallel Mechanism
|  | Configuration 1 (θ = 0°) | Configuration 2 (θ = 13°) | Configuration 3 (θ = 26°) | Configuration 4 (θ = 40°) |
|---|---|---|---|---|
Equation of rotation axis | \(\frac{x}{ - 0.7933} = \frac{y}{0.1257} = \frac{z}{ - 0.5957}\) | |||
Institutional configuration φ, γ | φ = 75° γ = − 20° | φ = 74.5° γ = − 7.1° | φ = 72.9° γ = − 5.8° | φ = 70° γ = 20° |
Driving angle | θ21 = 5.3° θ61 = 56.7° | θ21 = 18.3° θ61 = 35.3° | θ21 = 32.3° θ61 = 18.9° | θ21 = 49.2° θ61 = 3.7° |