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Parallel manipulators are close-chain mechanisms. Compared with
conventional machine tools, it seems very much difference
between them. Parallel manipulators have been recognized that
this kind of manipulators possess the following three advantages
compared with conventional machining: 1) higher force/torque
capacity; 2) higher structural rigidity; 3) higher accuracy due
to the noncumulative joint errors. Therefore, they were called
"Second Generational Machines". But parallel manipulators apply
many complThis dissertation presents a new 6 DOF parallel
manipulator intended to be used as a high speed milling machine.
It is similar to a Hexaglide but instead of variable joint end
effector two sections, it has (1)6 linear motors (2)6 constant
leg bars (3) linking the platform with tools. The screw theory
is adopted in this paper to calculate the kinematics and
singularities of a newly-parallel manipulator. The purposes are
to slove the kinematics problems and to forecast singularities
for by variability for the
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