  A novel kinematically redundant (6+3)-DoF parallel robot is presented in this
paper. Three identical 3-DoF RU/2-RUS legs are attached to a configurable
platform through spherical joints. With the selected leg mechanism, the motors
are mounted at the base, reducing the reflected inertia. The robot is intended
to be actuated with direct-drive motors in order to perform intuitive physical
human-robot interaction. The design of the leg mechanism maximizes the
workspace in which the end-effector of the leg can have a 2g acceleration in
all directions. All singularities of the leg mechanism are identified under a
simplifying assumption. A CAD model of the (6+3)-DoF robot is presented in
order to illustrate the preliminary design of the robot.
