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：本文深入研究了利用3-RRR球面并联机构（SPM）实现惯性视线（LOS）稳定的方法。该并联机器人提供三个旋转自由度（DOF），并从运动学角度进行了分析。特别地，作者确保奇异位形（及其导致的数值不稳定性和机构不当行为）远离预设工作空间。在验证机构运动学性能后，需设计控制策略以通过机构上平台实现视线稳定。该工作依托MATLAB Simulink平台，利用机构的SimMechanics模型完成。