A Backdrivable Axisymmetric Kinematically Redundant (6+3)-Degree-of-Freedom Hybrid Parallel Manipulator
Jehyeok Kim,Clément Gosselin,Jehyeok Kim,Clément Gosselin
A kinematically redundant (6+3)-degree-of-freedom (DOF) hybrid parallel robot with an axisymmetric workspace is proposed. By arranging the first revolute joint of each leg such that they have the same rotation axis, this robot can achieve an axisymmetric workspace, resulting in a large reachable workspace. In addition, type II singularities, which critically limit the orientational workspace, can ...
