A parallel mechanism that is based on tensegrity system is studied in this article. Tensegrity systems are a suitable alternative for conventional engineering systems like mechanisms for some application. In this article, tensegrity mechanisms are classified into tensegrity mechanism with passive and active compliant components. Based on this classification, two types of six-degree-of-freedom parallel mechanism are proposed and kinematics and static of them are solved. The first type is the 6–6 tensegrity mechanism with passive compliant components and the second type is the 6-3 tensegrity mechanism with active compliant components.

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