A novel 5-DOF 3SPU+2SPRR type parallel manipulator is proposed. First, the formulae are derived for solving the kinematics parameters of the moving platform. Second, the kinematics of the active legs and connection rod are analyzed, and the formulae for solving velocity and acceleration of the active legs and connection rod are derived. Third, the formulae are derived for solving the dynamic active and constrained forces. Finally, an analytic example is given for solving the dynamics, and the analytic solved results are verified by the mechanism simulation. This paper is aimed at laying a solid theoretical and technical foundation for its prototype manufacture and control.
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