Reconfigurable Spherical Motion Generator (RSMG)

This project focuses on generating three-DOF spherical motion with unlimited range of motion. The proposed solution, the reconfigurable spherical motion generator (RSMG), achieves unlimited spherical motion by utilising reconfiguration to avoid workspace singularity. The principle is to actively alter the manipulator’s configuration before being trapped into singular configurations. Mathematical representations of manipulator singularity, kinematics and dynamics are derived to enable precise and continuous motion control. Robotic arms with reconfigurable architecture, arranged in a redundant parallel configuration, are designed to actuate the spherical rotor.