Mini Parallel Robot Design, Assembly and Circuitry Authored by - Chaxu Patel , Piyush Panda , Mohana Priya.T
Kinematics
Number of links (L) = 8
Number of Spherical Joints (J) = 6
DOF ( Degree of freedom) of spherical joints (f) = 3
Constraints caused by each closed loop = 6
Number of closed loops = 3
Constraints caused by each motor = 1
Number of motors = 3
Using Gruber's Formulae:-
= 6(8-6-1) + 6(3)-6(3) -3(1) = 3
DOF of system = 3