Design and testing of a spherical parallel mini manipulator

The article describes the design, prototyping and preliminary testing of a miniaturized spherical parallel manipulator (SPM) with 2 DOFs of rotation, conceived to handle the orientation of a mobile platform during the assembly of very small components. The paper summarizes the basic equations of position and differential kinematics, and describes all the project phases for the realization of the first prototype. Furthermore, experimental data of preliminary tests are presented