Mechanical and Computational Analysis of the Taylor Spatial Frame
An adaptation of parallel platforms (hexapod) for an orthopaedic frame (2002)
Manufacturer offers a web-based system for users
Instability reported despite all components remaining intact, which required avalysis of the configurations of the frame
Can move and mobilise in all 6 degrees of freedom
Its Inverse Kinematics (IK) is simple while Forward Kinematics (FK) is challenging
Introduced in the 1950's and still being studied
Has many applications most widely for flight simulators
Please check:
http://fecad.com/tsf/ring