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and
Machine Theory
Mechanism and Machine Theory 43 (2008) 1099–1111
ate/mechmt
Kinematics/statics analysis of a novel 2SPS+PRRPR
parallel manipulator
Yi Lu *, Bo Hu, Shi-Hua Li, Xing-Bin Tian
Robotics Research Centre, School of Mechanical Engineering, Yanshan University, Qinhuangdao, Hebei 066004, PR China
Received 15 February 2007; received in revised form 19 September 2007; accepted 5 October 2007
Available online 26 November 2007
Abstract
In this paper, a novel 2SPS+PRRPR parallel manipulator with 3-leg 5-dof is proposed, and its kinematics, statics and
workspace are studied systematically. First, the structure constraints and the inverse displacement are analysed. Second,
the formulae for solving the inverse/forward velocities and accelerations, the active/constrained forces are derived. Third, a
workspace is constructed and analysed. The analytic results are verified by its simulation mechanism to be consistent with
the calculated ones.
Ó 2007 Elsevier Ltd. All rights reserved.
Keywords: Parallel manipulator; Kinematics; Statics; Workspace
1. Introduction
Currently, various 5-dof (degree-of-freedom) PKMs (parallel kinematic machines) have attracted much
attention due to their fewer active legs, large workspace, simple structure, easy control, and simpler kine-
matic solutions [1–9]. Fang and Tsai [3] synthesized some 5-dof PKMs by screws theory. Using univer-
sal–spherical joints equivalent virtual chains, Kong and Gosselin [4] synthesized some 5-dof PKMs.
Huang et al. [5] developed a 3-dof TriVariant for a 5-dof reconfigurable hybrid robot. Adopting Lie group
of displacements, Li et al. [6] synthesized some 5-dof PKMs with three rotations plus two translations. Gao
et al. [7] synthesized the kinematic structures of some 5-dof PKMs posite pairs and sub-chains. Krut
et al. [8] designed a 5-dof redundant PKM. Alizade and Bayram [9] proposed different 5-dof PKMs. How-
ever, all these 5-dof PKMs have s