In this paper, we introduce a new type of spatial parallel robot that is comprised of soft inflatable constraints called Tri-Chamber Actuators (TCAs). We extend the principles of the Freedom and Constraint Topologies (FACT) synthesis approach to enable the synthesis and analysis of this new type of soft robot. The concepts of passive and active freedom spaces are introduced and applied to the design of general parallel systems that consist of active constraints (i.e., constraint that can be actuated to impart various loads onto the system’s stage) that both drive desired motions and guide the system’s desired degrees of freedom (DOFs). We provide the fabrication details of the TCA constraints introduced in this paper and experimentally validate their FACT-predicted kinematics. Examples are provided as case studies.

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