A novel three-legged 6-DOF parallel robot with simple kinematics

Abstract

This paper presents a novel three-legged six degrees of freedom (6-DOF) parallel robot with simple kinematics. The main idea behind this novel architecture is that each of the three identical legs is controlled by two prismatic actuators with parallel directions. As a result, it is possible to control simultaneously or separately the position and the orientation of a leg. The reduced number of legs leads to a simple mechanical design with reduced risk for mechanical interferences.