Abstract
A redundantly actuated 3 degree of freedom (xyθ) planar parallel link mechanism (PLM) with back-flip motion (BF PLM) is proposed. The back-flip means that the end plate of the PLM has working area of 180 degrees or more. It aims at the table mechanism of multi-axes machine tools. In this paper, singular configuration is analyzed by using the kinematics of the PLM. By applying numerical analyses, it has been revealed that the back-flip motion can be achieved stably (not singularity) over the working area excluding the upper limit. Prototype of BF PLM and control system are produced. Linear motor of Parallel Drive is implemented to the prototype of BF PLM.
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