Abstract
In this chapter, we first introduce a fully six degrees of freedom fully-parallel robotic machine with prismatic actuators. Then several new types of parallel mechanisms with prismatic actuators whose degree of freedom is dependent on a constraining passive leg connecting the base and the platform is analyzed. The mechanisms are a series of n-dof parallel mechanisms which consist of n identical actuated legs with six degrees of freedom and one passive leg with n degrees of freedom connecting the platform and the base. This series of mechanisms has the characteristics of reproduction since they have identical actuated legs, thus, the entire mechanism essentially consists of repeated parts, offering price benefits for manufacturing, assembling, and maintenance.
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