A novel kinematically redundant (6+3)-DoF parallel robot is presented in this paper. Three identical 3-DoF RU/2-RUS legs are attached to a configurable platform through spherical joints. With the selected leg mechanism, the motors are mounted at the base, reducing the reflected inertia. The robot is intended to be actuated with direct-drive motors in order to perform intuitive physical human-robot interaction. The design of the leg mechanism maximizes the workspace in which the end-effector of the leg can have a 2g acceleration in all directions. All singularities of the leg mechanism are identified under a simplifying assumption. A CAD model of the (6+3)-DoF robot is presented in order to illustrate the preliminary design of the robot.

翻译：本文提出了一种新型运动学冗余(6+3)自由度并联机器人。三个相同的三自由度RU/2-RUS支腿通过球铰连接于可重构平台上。所选的支腿机构将电机安装于基座，从而减小了反射惯性。该机器人拟采用直驱电机驱动以实现直观的人-机物理交互。支腿机构的设计最大化了末端执行器在所有方向上均可获得2g加速度的工作空间。在简化假设下，识别了支腿机构的所有奇异性。为说明该机器人的初步设计，展示了其三维CAD模型。