This paper investigates the position analysis of a spherical three degree of freedom parallel joint module, which is used in the exercise equipment for balance and leg-strength improvement of aged people. The joint module has three link chains which c...
This paper investigates the position analysis of a spherical three degree of freedom parallel joint module, which is used in the exercise equipment for balance and leg-strength improvement of aged people. The joint module has three link chains which consists of two links and three revolute joints, and its all joints intersect at the global point located at the module's center. The paper shows the explicit mathematical procedure for deriving the closed form solutions in the inverse and forward position analysis of this parallel joint module.