├── CoppeliaSim ├── 3-RRR_SPM.ttt ├── CoppeliaSim_Test.m ├── CoppeliaSim_Test2.m ├── remApi.m ├── remoteApi.dll ├── remoteApiProto.m └── simpleTest.m ├── Design of a Spherical Parallel Robotic Wrist Mechanism.pdf ├── IMU_Arduino └── IMU_Arduino.ino ├── Inventor2024-CAD Files ├── NEMA_17.ipt ├── SPM_assembly_V2.iam ├── SPM_assembly_V2.ipn ├── distal_link_1.ipt ├── distal_link_2.ipt ├── distal_link_3.ipt ├── encoder_cover.ipt ├── fixed_base.ipt ├── input_gear_1.ipt ├── input_gear_2.ipt ├── input_gear_3.ipt ├── link_gear_1.ipt ├── link_gear_2.ipt ├── link_gear_3.ipt ├── mobile_platform.ipt ├── proximal_link_1.ipt ├── proximal_link_2.ipt └── proximal_link_3.ipt ├── LICENSE ├── MATLAB_CODE ├── Configuration_Space.m ├── Euclidean_norm.m ├── Infinite_Rotational_Motion.m ├── Infinite_Rotational_Motion2.m ├── Measure_Orientation.m ├── Workspace1.m ├── app1_test.mlapp ├── calculate_Jacobian.m ├── calculate_vi.m ├── conditioning_index.m ├── define_Q.m ├── define_coefficients.m ├── define_v0i.m ├── define_wi.m ├── forward_kinematics.m ├── forward_kinematics2.m ├── inverse_kinematics.m └── inverse_kinematics2.m ├── Mechanical Drawings ├── SPM_Assembly.pdf ├── SPM_EXPLODED.pdf ├── distal_link_1.pdf ├── distal_link_2.pdf ├── distal_link_3.pdf ├── fixed_base.pdf ├── input_gear_1.pdf ├── input_gear_2.pdf ├── input_gear_3.pdf ├── link_gear_1.pdf ├── link_gear_2.pdf ├── link_gear_3.pdf ├── mobile_platform.pdf ├── proximal_link_1.pdf ├── proximal_link_2.pdf └── proximal_link_3.pdf ├── README.md ├── SPM_arduino └── SPM_arduino.ino ├── STL Files ├── distal_link_1.stl ├── distal_link_2.stl ├── distal_link_3.stl ├── fixed_base.stl ├── input_gear_1.stl ├── input_gear_2.stl ├── input_gear_3.stl ├── link_gear_1.stl ├── link_gear_2.stl ├── link_gear_3.stl ├── mobile_platform.stl ├── proximal_link_1.stl ├── proximal_link_2.stl └── proximal_link_3.stl ├── Videos ├── 2vueltas.mp4 ├── SPM_EXPLODED.wmv ├── Video_SIM_CoppeliaSim.mp4 ├── Video_SIM_CoppeliaSim_2.avi ├── givenorientation.mp4 ├── 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