Kinematic analysis of a novel 6-DOF parallel manipulator

The kinematics of a Cartesian six-degree-of-freedom parallel manipulator is described. The manipulator consists of a base plate, a top plate, and three connecting legs in an all-revolute-joint design. The inverse kinematics are presented in closed form, and a numerical solution for the forward kinematics is given. The kinematic equations presented have been implemented in the real-time control software and could be run at a high sampling rate due to their efficient arrangement.<
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