Design of a New 6-DOF Parallel Mechanism with a Suspended Platform

Abstract

This paper deals with the kinematics and analysis of a new parallel mechanism with a suspended platform. The proposed mechanism has a unique appearance in that the 6 chains originating from a circular ring are connected to the both ends of a suspended platform. After introducing the kinematics, the architecture singularity problem is analyzed. Then, the kinematic characteristics of this mechanism are analyzed with respect to the workspace and the isotropic index. Kinematic optimization of this mechanism was also performed. Finally, the proposed robot was employed as an automatic device for otologic surgery.