Kinematics analysis and statics of a 2SPS+UPR parallel manipulator

摘要

In this paper, the kinematics and statics of a 2SPS+UPR parallel manipulator are studied systematically. First, its simulation mechanism is created, and formulae for solving the inverse/forward displacement kinematics are derived. Second, formulae for solving inverse/forward velocity and active/constrained forces are derived. Third, formulae for solving inverse/forward acceleration are derived, and a workspace is analysed. The analytic results are verified by its simulation mechanism.