The proposed innovation is a two-actuator, singularity-free double pointing system which has a spherical geometry. It has potentially widespread application as the basis of a new generation of singularity-free manipulator wrists which will not generate coupled arm/wrist singularities. It will also serve as the shoulder pointing subsystem for singularity-free manipulator arms, such as the spherical arm-subassembly. These new manipulators will meet the need addressed in the subtopic by minimizing interaction forces caused by singularities and by increasing the reliability of current singularity-free systems by reducing the required number of actuators in their design. The proposed effort aims to complete a conceptual design for a two-actuator, spherical, singularity-free double pointing system, construct an experimental mock-up of this design, and develop the kinematic equations for this system when it is applied as the pointing subsystems for three types of manipulator geometries. Both NASA and industry will benefit from having such systems, which will provide greater dexterity than present industrial systems, effectively eliminate all internal workspace singularities, and increase the reliability of singularity-free systems.Commercial applications include flexible manufacturing systems and any robotic application requiring increased dexterity from a pointing subsystem. In addition, the innovation can be used as a pointing subsystem for controlling space systems such as mirrors and relays.design, manipulation, manipulators, dexterity, robotics
