Development of the TIARA Hexapod: A Machine Tool Based on Parallel Kinematic Structures

Abstract The paper focuses on the TIARA Hexapod — a parallel kinematic machine tool that is being developed at McMaster University. The design uses fixed length struts, and an inclined layout for the motion axes that results in the mechanism resembling a ‘tiara’. In addition to the novelty of the design, these characteristics have several advantages from both a performance and economic perspective. The paper presents an …