Kinematics Analysis of the Parallel Mechanism Having Vertically Fixed Linear Actuators

A 6 degrees of freedom parallel mechanism actuated by vertically fixed linear actuators was developed for heavy material handling and machining. The mechanism allows easy trajectory generation, since the vertical arrangement of the linear actuators simplifies the calculation of its inverse kinematics. This paper presents inverse kinematics and jacobian matrix solutions. Ways to avoid component interference, which is divided into three types, are proposed. The combination of design parameters is decided by comparing the characteristics of area of movement, resolution and velocity. The working space is then shown. The singularity is analyzed by evaluating determinants of the jacobian matrix. Lengthening the connecting rods and limiting the range of the end-effector rotational angles are effective in avoiding the singular configurations as well as interference. Finally, the developed prototype mechanism is introduced, and its application to tool positioning and machining described.