This paper introduces a novel 6-DOF parallel manipulator, which is composed of two 3-RUS parallel manipulators that share a common three-dimensional moving platform. Semi-analytical form solutions are easily obtained to solve the forward displacement analysis of the robot using the non-planar geometry of the moving platform, whereas the velocity, acceleration, and singularity analyses are performed using screw theory. A case study is included to show the application of the kinematic model, which is verified with the aid of a commercially available software. Simple kinematic analysis and reduced singular regions are the main benefits of the proposed parallel manipulator.

In this paper, a method is proposed for dynamic balancing of hexapods for high-speed applications. The kinematic structure of the hexapod is based on the parallel mechanism. For high-speed applications, hexapod dynamics is the dominant factor, and dynamic balancing becomes very important. The proposed method is aimed at minimizing the changes in the hexapod inertia over the workspace by utilizing the tool holder attached to the hexapod's end-effector as a counterweight.