Publications / 2000 Proceedings of the 17th ISARC, Taipei, Taiwan
This paper presents a large scale redundant parallel manipulator. To design the manipulator some preliminary considerations are given. The manipulator is built based on two 3DOF parallel mechanisms. Hydraulic cylinders are employed as actuators to achieve linear motion and offer great force. The kinematics analysis is given for the manipulator. The control schemes are discussed in the paper and the simulation results are presented. Keywords: Parallel manipulator, design method and kinematics analysis.