Abstract
In this paper, regarding six degrees-of-freedom spatial parallel mechanisms with prismatic pairs on the fixed link, moving characteristics of the mechanism such as ranges of moving of the end effector and forces acting in each pair are analyzed theoretically. Moreover, in order to determine the optimum condition of inclinations in pairs on the fixed link which satisfy the maximum working space of the end effector, the work space is analyzed with consideration of singular points of the mechanism. From the above-mentioned analytical result, the influence which the inclination of pairs on the fixed link gives to performances and work spaces of the mechanism are revealed. Finally, the apparatus satisfying above analytical results is manufactured, the dynamic characteristic and motions of the mechanism are analyzed experimentally.
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