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：本文深入研究了三自由度3-RRR球面并联机构(SPM)在惯性视线(LOS)稳定中的应用。这种并联机器人具备三个旋转自由度(DOF)，并从运动学角度对其进行了分析。具体而言，确保奇异性区域（以及由此引发的数值不稳定性和机构不当行为）远离预设工作空间。在验证机构运动学特性后，需要实施控制策略以通过机构上平台稳定视线。该工作利用MATLAB Simulink平台，结合机构的SimMechanics模型完成。