Dynamic performance comparison of the 8PSS redundant parallel manipulator and its non-redundant counterpart—the 6PSS parallel manipulator

This paper presents the dynamic performance comparison of the 8PSS redundant parallel manipulator and the 6PSS parallel manipulator. A series of kinematics and rigid dynamics performance indices with obvious physical meanings have been adopted to compare the performance of the 8PSS redundant parallel manipulator and that of the 6PSS parallel manipulator. It is turned out that their kinematics characteristics are equivalent while the dynamic performance of the 8PSS redundant parallel manipulator is better than that of the 6PSS parallel manipulator.