This article dives into the use of a 3-RRR Spherical Parallel Manipulator (SPM) for the purpose of inertial Line Of Sight (LOS) stabilization. Such a parallel robot provides three Degrees of Freedom (DOF) in orientation and is studied from the kinematic point of view. In particular, one guarantees that the singular loci (with the resulting numerical instabilities and inappropriate behavior of the mechanism) are far away from the prescribed workspace. Once the kinematics of the device is certified, a control strategy needs to be implemented in order to stabilize the LOS through the upper platform of the mechanism. Such a work is done with MATLAB Simulink using a SimMechanics model of our robot.

翻译：本文深入探讨了采用3-RRR球面并联机构实现惯性视线稳定。该并联机器人在定向运动上具有三个自由度，并从运动学角度进行了研究。特别地，我们确保了奇异位形及其所导致的数值不稳定与机构不当行为远离预定工作空间。在机构运动学得到验证后，需实施控制策略以通过机构上平台稳定视线。本研究利用MATLAB Simulink平台及机构的SimMechanics模型完成相关验证工作。