Comparative Analysis of Two 5-DOF 4UPS+UPU Parallel Manipulators

Two 5-DOF 4UPS+UPU parallel manipulators with identical limbs and different joints distribution are descripted. The configuration and DOF (degree of freedom) are analyzed, and the geometric constraint relations are presented. Kinematic analysis is derived, and the displacement, velocity and acceleration are solved. Static analysis is done, and the active/constrained forces are solved. The numerical examples are presented, and the workspaces and static performances are compared, which are very useful for design and control of the 4UPS+UPU parallel manipulator.