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Parallel mechanisms analysis and design are the main trends of advance robotic engineering. This article is devoted to the novel parallel mechanisms with six degrees of freedom. The presented mechanisms can be applied in additive technologies, robotic–assisted surgery. The proposed mechanisms contain six drives and six kinematic chains. They have the properties of a partial kinematic decoupling, which allows realized separately translational and rotational movements. The presented mechanisms is a simple kinematic scheme. The drives can provide a ratio 1:1 of with the movement of the output link. The paper considers the solution of kinematics problems, velocity analysis, singularities. The velocity problem is solved by differentiating the coupling equations. Singularities were detected by studying the properties of Jacobi matrices. The singularities depend only on the orientation of the output link. These mechanisms have a large working area free of singularities. The working area is determined by solving the coupling equations. The solved problems allow to solve the control such mechanisms in the future.

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Synthesis and research of parallel mechanisms is one of the robotics trend. The work is devoted to the design and experimental study of the parallel mechanism with a constant gear ratio with six degrees of freedom. The drives can provide a ratio of 1:1 with the movement of the output link. The presented mechanism can have wide possibilities of application in industries. The mechanism contains six drives and six kinematic chains. This mechanism has the property of kinematic decoupling of translational and rotational movements. The paper considers the physical model of the mechanism, shows its components and component parts and assemblies. The operability of the developed device has been experimentally tested.