Abstract

This article shows a new type of parallel mechanism with a configurable platform. New in this context is that the platform is not a rigid body, it is formed by a closed overconstrained serial chain. This gives the opportunity to change the geometry of the platform and therefore the relative position of the anchor points of the legs. In this paper a special type of these parallel mechanisms is analyzed. It is based on the famous Delta robot, but the rigid platform is replaced by Bricard's orthogonal 6R-linkage. Herein the direct kinematics of this special new parallel mechanism with an additional degree of freedom in the platform is solved and the impact of the additional freedom on the motion of the platform is shown.

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