Abstract
A redundantly actuated 3 degree of freedom (xyθ) planar parallel link mechanism (PLM) with back-flip motion 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, the condition and the working area to do the back-flip are defined. In addition, singular configuration and stiffness are 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.
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