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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°