Stewart platform based parallel manipulator destined for the kinematic's justification of two cooperated robots

The paper presents a virtual prototype of a new design of parallel manipulator of Stewart Platform type destined for the measuring applications. The concept of the 6 DOF manipulator is described. The model of mechanical part of the robot is built in UNIGRAPHICS system and ADAMS/spl trade/ environment. Preliminary results of simulations and initial investigations concerned with measuring applications, and conclusions are presented. Main advantages of this solution are simplicity, compactness and lightness of the construction. The POLMAN design provides a systematic approach to the development of modular parallel robotic systems which can be configured into a wide variety of different forms for different applications.