New Architecture with Base and Moving Platform Parallel

The base and moving platform connected in some peculiar way by some kinematical chains (KCs) with the joints distinguishingly arranged have the ingenious kinematical character. A peculiar connecting way of some KCs with base and the moving platform can keep the base and the moving platform parallel is presented in this paper. Two KCs of this family can keep the base and moving platform parallel. Some interesting parallel robots with there or four legs are constructed by using this class KCs.

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