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. Ever since its introduction, half a century ago, the Gough-Stewart platform (GS platform) has attracted a great deal of attention. GS
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