Analysis of a new parallel robot

Aiming at handling the airplane structures, this paper deals with a new sub-6 DOF asymmetrical parallel mechanism, named “TAM”. The robot is a modified version of the SKM400. The innovation of the new parallel robot is systematically addressed. Both forward and inverse positions are analyzed. The condition number of the Jacobin and its mean value are used to evaluate the kinematic performance. It can be concluded that the proposed mechanism is competitive in aircraft industry.