A New Parameter Design Method of a 6-DOF Parallel Motion Simulator for a Given Workspace

This paper introduces a new 9-DOF motion simulator that consists of a 3-DOF parallel manipulator and a 6-DOF parallel manipulator. For the 6-DOF manipulator, a new '3-3'-PSS parallel mechanism and a new parameter design method for a given workspace are presented. With the kinematic study of this parallel mechanism and the method of Lagrange multipliers, we have found several key points that represent the worst performance of the manipulator within the given workspace. When a position workspace is given, by checking the manipulator's performances at these key points, one can quickly find out whether the manipulator with certain parameters meets the requirements within this workspace. Furthermore, several figures that can find the appropriate parameters are plotted. This key point method can make the design of parameters much quicker and easier for manipulators.