Kinematic Analysis and Design of a Novel (6+3)-DoF Parallel Robot with Fixed Actuators
Arda Yiğit,David Breton,Zhou Zhou,Thierry Laliberté,Clément Gosselin,Arda Yiğit,David Breton,Zhou Zhou,Thierry Laliberté,Clément Gosselin
A novel kinematically redundant ($6+3$) -DoF parallel robot is presented in this paper. Three identical 3-DoF RU/2-RUS legs are attached to a configurable platform through spherical joints. With the selected leg mechanism, the motors are mounted at the base, reducing the reflected inertia. The robot is intended to be actuated with direct-drive motors in order to perform intuitive physical human-ro...
