Parallel Kinematic Machines (PKM) – Limitations and New Solutions

Abstract The main advantages of parallel kinematic machines are their simple designs and common parts. However they also possess some inherent disadvantages which include limited orientation angles, non-linear force transmission and stiffness characteristics, a poor ratio of working envelope to machine size as well as mediocre accuracy. This paper discusses the factors which contribute to these negative characteristics and offers new ways to overcome these disadvantages.