A novel parallel manipulator architecture for manufacturing applications

This paper proposes a new type of a six-degree-of-freedom parallel manipulator with six prismatic legs for manufacturing applications. Each leg is connected to a base by universal and prismatic joints, and to a moving platform by spherical joints. Based on the complete kinematics model developed in this paper, analytical expressions are derived for the displacement, velocity and accelerations. The dynamic equations of the manipulator are obtained from the kinematic model using the NOC method. The implementation of the model in an algorithm is shown through simulations to compute the required actuator forces for a sample trajectory.