Kinematic analysis and singular configurations of a class of parallel robots

This paper presents the kinematic characteristics of a particular structure of six d.o.f. parallel robot, where the ends of the parallel chains in both moving platform and base have three coincident points and two coincident points. The position of the end effector is decoupled from the orientation such that the Forward Kinematic Model (FKM) can be obtained analytically. The singular configurations and surfaces are given, and the distribution of the solutions of the FKM are analyzed with respect to these surfaces.