{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,12]],"date-time":"2025-10-12T03:25:05Z","timestamp":1760239505564,"version":"build-2065373602"},"reference-count":25,"publisher":"MDPI AG","issue":"4","license":[{"start":{"date-parts":[[2020,11,23]],"date-time":"2020-11-23T00:00:00Z","timestamp":1606089600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotics"],"abstract":"<jats:p>Parallel kinematic machines (PKMs) have demonstrated their potential in many applications when high stiffness and accuracy are needed, even at micro- and nanoscales. The present paper is focused on the functional design of a parallel platform providing high accuracy and repeatability in full spatial motion. The hexaglide architecture with 6-PSS kinematics was demonstrated as the best solution according to the specifications provided by an important Italian company active in the field of micro-positioning, particularly in vacuum applications. All the steps needed to prove the applicability of such kinematics at the microscale and their inherent advantages are presented. First, the kinematic model of the manipulator based on the study\u2019s parametrization is provided. A global conditioning index (GCI) is proposed in order to optimize the kinetostatic performance of the robot, so that precise positioning in the required platform workspace is guaranteed avoiding singular configurations. Some numerical simulations demonstrate the effectiveness of the study. Finally, some details about the realization of a physical prototype are given.<\/jats:p>","DOI":"10.3390\/robotics9040099","type":"journal-article","created":{"date-parts":[[2020,11,23]],"date-time":"2020-11-23T08:18:23Z","timestamp":1606119503000},"page":"99","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":8,"title":["Functional Design of a 6-DOF Platform for Micro-Positioning"],"prefix":"10.3390","volume":"9","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-6931-6618","authenticated-orcid":false,"given":"Matteo-Claudio","family":"Palpacelli","sequence":"first","affiliation":[{"name":"Dipartimento DIISM, Universit\u00e0 Politecnica delle Marche, 60131 Ancona, Italy"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Luca","family":"Carbonari","sequence":"additional","affiliation":[{"name":"Dipartimento DIMEAS, Politecnico di Torino, 10129 Torino, Italy"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-7820-2890","authenticated-orcid":false,"given":"Giacomo","family":"Palmieri","sequence":"additional","affiliation":[{"name":"Dipartimento DIISM, Universit\u00e0 Politecnica delle Marche, 60131 Ancona, Italy"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Fabio","family":"D\u2019Anca","sequence":"additional","affiliation":[{"name":"Istituto Nazionale di AstroFisica (INAF)\u2014Osservatorio Astronomico, 90134 Palermo, Italy"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Ettore","family":"Landini","sequence":"additional","affiliation":[{"name":"Fab Crea Srl, 16149 Genova, Italy"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Guido","family":"Giorgi","sequence":"additional","affiliation":[{"name":"Vacuum Fab Srl, 20010 Cornaredo, Italy"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2020,11,23]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"218","DOI":"10.1016\/j.cad.2006.04.013","article-title":"High-tilt parallel positioning mechanism development and cutter path simulation for laser micro-machining","volume":"39","author":"Ahn","year":"2007","journal-title":"Comput. 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