Dynamics analysis and workspace of a novel 4-DoF parallel manipulator with multi-couple constrained wrenches

A novel 4-DoF parallel manipulator with multi-couple constrained wrenches is proposed. Its 3D model is constructed and its characteristics, DoF and two couple-constrained wrenched are analyzed. Its kinematic formulae for solving DoF, the displacement, velocity, acceleration, singularities of moving links are derived and analyzed. Its dynamics formulae for solving the dynamic active forces and the dynamic couple-constrained wrench are derived, and its workspace is constructed. Finally, an analytic example is given to demonstrate the solution of the kinematics and dynamics, and the results of analytical solution are verified using a simulation mechanism. This paper is aimed at laying a solid theoretical and technical foundation of development of the parallel manipulators with multi-couple constrained wrenches.