Study of parallel mechanism with back-flip motion applying parallel drive system of linear motors

A redundantly actuated 3-degrees-of-freedom (xyθ) planar parallel mechanism with back-flip motion (PM BFM) is proposed. The back-flip motion means that the end plate of the parallel mechanism rotates more than 180 degrees. In this paper, firstly, mechanical features of the PM BFM are revealed. Secondly, a parallel drive system of linear motors is applied to the PM BFM. This parallel drive system is a driving method in which two linear motors on two stators are driven by a single servo amplifier. Features of the parallel drive system are revealed. Finally, the peculiar mechanical interference of the PM BFM is analyzed.