Architectural singularity analysis and design optimization of a parallel mechanism with a suspended platform

This paper deals with the kinematics and optimization of a parallel mechanism with a suspended platform. The proposed mechanism has a unique appearance in that the 6 chains originating from a circular ring are connected to both ends of a suspended platform. After introducing the kinematics, the architectural singularity is analyzed and the design is optimized to minimize the architectural singularity maximally. And the motion characteristics are observed by 3D simulation. ��2009 IEEE