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This paper presents a structural analysis and synthesis of a biologically inspired spherical mechanism of a parallel structure with one degree of freedom and three kinematic chains with adjustable cranks. A kinematic diagram is drawn up and a variant of constructive implementation of the mechanism is proposed. The number of degrees of freedom of the mechanism is checked. The possibility of dynamic regulation is suggested.

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Structural Synthesis and Analysis of a Spherical 1-DOF Rotational Controlled Mechanism with Three Adjustable Parameters

  • 会议论文

  • 发表日期：

    2026年

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  • Yu. A. Semenov,
  • S. Yu Misyurin,
  • E. B. Semenova

摘要

This paper presents a structural analysis and synthesis of a biologically inspired spherical mechanism of a parallel structure with one degree of freedom and three kinematic chains with adjustable cranks. A kinematic diagram is drawn up and a variant of constructive implementation of the mechanism is proposed. The number of degrees of freedom of the mechanism is checked. The possibility of dynamic regulation is suggested.