The kinematics and workspace analyses of a parallel manipulator for manufacturing

In this paper, a new type of manipulator for manufacturing based on Stewart platform is proposed. For the requirement of high accuracy and simple structure, a new scheme of the leg mechanism which is the key component parts in parallel mechanism is presented. As we know, the kinematics of a general parallel Stewart platform is difficult. Furthermore, the kinematics analyses of this manipulator is more complicated because of some structural derived motions. So a new algorithm is represented to solve this problem conveniently and rapidly even the structural derived motions are concerned. In the last part of this paper, the workspace of the model manipulator is analyzed.