Design of the Parallel Spherical Manipulator for Wrist Rehabilitation

This paper presents the most important steps of the wrist rehabilitation robot design. In this work, kinematic synthesis problem of a 3-RRR spherical parallel manipulator is considered including a solution for forward and inverse kinematic problems. In order to maximize dexterity of the parallel manipulator over its workspace, its design is developed by finding optimal link shape parameters. The CAD design for the prototype is obtained based on this optimization.