A Novel Parallel Manipulator Architecture for Manufacturing Applications

This paper proposes a new type of a six-degree-of-freedom parallelmanipulator with six prismatic legs for manufacturing applications. Eachleg is connected to a base by universal and prismatic joints, and to amoving platform by spherical joints. Based on the complete kinematicsmodel developed in this paper, analytical expressions are derived forthe displacement, velocity and accelerations. The dynamic equations ofthe manipulator are obtained from the kinematic model using the NOCmethod. The implementation of the model in an algorithm is shown throughsimulations to compute the required actuator forces for a sampletrajectory.