Analyzing kinematics and solving active/constrained forces of a 3SPU + UPR parallel manipulator

A novel 3SPU + UPR parallel manipulator with three rotations and one translation is proposed. Its kinematics is analyzed systematically, and its workspace and active/constrained forces are solved. First, its simulation mechanism is created, and the formulae for solving the inverse/forward displacement kinematics are derived. Second, the formulae for solving inverse/forward velocity, active forces and constrained forces are derived. Third, the formulae for solving inverse/forward acceleration are derived and a workspace is constructed. Finally, the analytic results are verified by its simulation mechanism.