A VARIANT OF A 6-RKS HUNT-TYPE PARALLEL MANIPULATOR TO EASILY USE INSENSITIVITY POSITION CONFIGURATIONS

摘要

In this paper, the "insensitivity position configurations" (IPCs) of a 6-RKS Hunt-type parallel manipulator are analysed. The advantages of the aforementioned manipulator IPCs in positioning tool or pieces in being manufacturing processes are discussed. The difficulty to design such manipulator showing IPCs in some predefined positions is studied. To simplify this design process a variant of 6-RKS parallel manipulator is presented.