Elastodynamic characteristics comparison of the 8-PSS redundant parallel manipulator and its non-redundant counterpart—the 6-PSS parallel manipulator

This paper presents an elastodynamic characteristics comparison of the 8-PSS redundant parallel manipulator and its non-redundant counterpart—the 6-PSS parallel manipulator through simulation. The natural frequency and the displacement response of the moving platform are investigated, respectively. It is shown that the natural frequency of the 8-PSS redundant parallel manipulator is higher than that of the 6-PSS parallel manipulator while its displacement responses of the moving platform are smaller than those of the 6-PSS parallel manipulator.