4-UPS-RPS Parallel Robot Mechanism and Its Statics Analysis

A novel 4-UPS-RPS spatial five-degrees-of-freedom parallel robot mechanism is presented.The principles that the mechanism can perform three-dimensional rotation and two-dimensional translation are analyzed by using screw theory, the degree of freedom of the mechanism is calculated, and the actuating input selection is discussed.The force balance equation and static transfer matrix are established.Taking 4-UPS-RPS parallel robot mechanism as the application of parallel machine tool, the statics analysis is realized.This research can provide a theoretical basis for the optimum design and motion planning of 4-UPS-RPS parallel mechanism.