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This paper presents a novel asymmetric parallel mechanism with three degrees of freedom, with properties of self-aligning called Triflex II. Triflex II is composed of three legs: $$\overline{P}RRR+\overline{P}RRU+\overline{P}RRS$$ P ¯ R R R + P ¯ R R U + P ¯ R R S that connect a moving platform to the base. This paper discusses the properties of asymmetry and self-aligning of the...
This paper presents a new class of parallel manipulators called variable-configuration parallel manipulators with self-aligning. These parallel manipulators can change their form to carry out different tasks in different places, this change being managed by additional degrees-of-freedom of self-aligning. These degrees-of-freedom of self-aligning do not interfere in the motion of the moving platform,...
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