Synthesis of new statically balanced parallel mechanisms

In this paper, a method for type synthesis of several new statically balanced parallel manipulators is presented systematically. Firstly, using the concept of constant potential energy, we propose a statically balanced stackable planar mechanism. Secondly, based on the statically balanced stackable planar mechanism, independent statically balanced limb types with certain constraint are designed. Thirdly, combining specific limbs with different wrench system, we synthesize several n-DOF (degree of freedom) parallel mechanisms.