David Breton

Kinematic Analysis and Design of a Novel (6+3)-DoF Parallel Robot with Fixed Actuators

A novel kinematically redundant (6+36+3) -DoF parallel robot is presented in this paper. Three identical 3-DoF RU/2-RUS legs are attached to a configurable platform through spherical joints. With the selected leg mechanism, the motors are mounted at the base, reducing the reflected inertia. The robo…