Kinematic Analysis and Verification of a New 5-DOF Parallel Mechanism

This paper first designs a new 5-DOF parallel mechanism with 5PUS-UPU, and then analyses its DOF by traditional Grubler–Kutzbach motion spiral theory. It theoretically shows that the meets requirement of five dimensions freedoms including three-dimensional movement two-dimensional rotation. Based on this, real is built, but unfortunately it found unstable in some positions. Grassmann line geometry method applied to analyze problem caused singular posture, an improving put forward solve it. With improved mechanism, closed loop vector employed establish inverse position equation kinematics analysis carried out get mapping relationships between position, speed, acceleration moving fixed platform. Monte Carlo used workspace explore influencing factors workspace, better workspace. Finally, experiment designed verify working performance.