Abstract
Stewart platform type parallel link mechanism has been widely applied to the driving simulators and the flight simulators. Additionally, the load test device for the automotive development that consists of the several parallel mechanisms has been reported recently. In such a case, it is preferred that the load against the parallel mechanism is equally shared with the actuator of the parallel mechanism. To solve this problem, simple geometric model that the universal joints of the parallel mechanism were configured at the vertex of the equilateral triangle was introduced. The design condition that actuators equally share the load was derived via this geometric model. In this paper, the detail of the derivation of this condition is described.
