Design and kinematics analysis of a novel serial-parallel kinematic machine

摘要

A novel serial-parallel kinematic machine based on a serial-parallel manipulator is proposed and its kinematics and statics are studied systematically. First, the concept of serial-parallel kinematic machine formed by the 3-PRS parallel manipulator and the 2-UPR+SPR PM is proposed. Second, the displacement is derived in close form based on the geometrical and dimensional constraints existed in the serial-parallel kinematic machine. Third, the Jacobian, velocity and statics of the serial-parallel kinematic machine are derived in the explicit and compact form. Finally, the formulas for solving the acceleration of this serial-parallel kinematic machine are derived. This research will lay a good foundation for the development of the serial-parallel kinematic machine.