Position Control of a 3-CPU Spherical Parallel Manipulator

Table 3

Mechanical data of the robot prototype.

Geometrical data
𝑐	210	mm
𝑑	490	mm
ℎ	280	mm
𝑎𝑖min	319	mm
𝑎𝑖max	661	mm
𝑏𝑖min	130	mm
𝑏𝑖max	210	mm
Mass data
Slider	7.15	kg
Link 1	1.90	kg
Link 2	2.21	kg
Platform	11.73	kg