Abstract
This paper introduces a new type of parallel mechanism, i.e. a 6-STRT, and its application to shipping. This mechanism consists of 6-sliders of horizontal motion and 6-links, of which the lower ends are connected to the sliders and the upper ends to the end plate; this via universal joints. The mechanism can move the end plate to 6 degrees of freedom. The authors succeeded to make the end plate perfectly stable, and regardless of all kinds of hull motions. In this paper, the authors are going to refer to motion and performance analysis of this mechanism by the matrix-vector method. The motion control of this mechanism will be shown in the next paper.
