(6+3) Dofs Kinematically Redundant Parallel Mechanism

This kinematically redundant spatial parallel mechanism is similar to the well-known Gough–Stewart platform, and it retains its advantages, i.e., the members connecting the base to the moving platform are only subjected to tensile/compressive loads. The proposed architecture exploits kinematic redundancy to avoid singularities and extend the rotational workspace. Link to the scientific article: