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A novel kinematically redundant (6+3)-DoF parallel robot is presented in thispaper. Three identical 3-DoF RU/2-RUS legs are attached to a configurableplatform through spherical joints. With the selected leg mechanism, the motorsare mounted at the base, reducing the reflected inertia. The robot is intendedto be actuated with direct-drive motors in order to perform intuitive physicalhuman-robot interaction. The design of the leg mechanism maximizes theworkspace in which the end-effector of the leg can have a 2g acceleration inall directions. All singularities of the leg mechanism are identified under asimplifying assumption. A CAD model of the (6+3)-DoF robot is presented inorder to illustrate the preliminary design of the robot.

Kinematic Analysis and Design of a Novel (6+3)-DoF Parallel Robot with Fixed Actuators