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Kinematic analysis and its applications of a novel spherical parallel manipulator

A novel spherical parallel manipulator (SPM), named Riflex, is designed and studied in this paper. Compared with the traditional SPMs, this novel SPM is composed of one rigid supporting limb and three flexible limbs, this type SPM has a great potential application in medical equipment and rehabilitation robots. The kinematics analysis, the numerical simulation of the kinematic analysis and the potential applications of the parallel manipulator are presented in this paper.