This paper presents the inverse and forward pose kinematics solutions for a novel 6-dof platform manipulator, actuated by two base-mounted spherical actuators. The moving platform is connected to the fixed base by two identical SPU (alternatively, SRU) serial chain legs. The S-joint is active, and remaining two joints in each chain are passive. The numerical Newton-Raphson technique is employed to solve the pose problems. Unfortunately, the passive joint variables cannot be ignored in the pose kinematics solutions as they can for the Gough/Stewart platform. Examples are presented and hardware has been built, using two Rosheim Omni-Wrists on loan from NASA.

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