Kinematic Analysis and Singularity Representation of 5-RPRRR Parallel Mechanisms

Abstract

This paper presents a novel type of five-degree-of-freedom parallel mechanism generating the 3T2R motion with linear inputs. The kinematic geometry of the mechanism is presented and several important kinematic issues including the inverse kinematic problem, the vector-loop velocity equations, the constant orientation workspace and the singularity configurations are investigated. The principal contribution of this study is the determination of the workspace based on algebraic geometry (Bohemian domes) and the study of the the singularity configurations. Based on the results, some optimization hints are proposed to refine the kinematic properties.