Kinematic analysis of two novel 3UPU I and 3UPU II PKMs

Two novel 3UPU I and 3UPU II PKMs (parallel kinematic machines) with two rotations and one translation are proposed, and their kinematics are studied systematically. First, the kinematic characteristics of the 3UPU I and 3UPU II PKMs are analyzed and the geometric constrained equations are derived. Second, some analytic formulae are derived for solving inverse displacement, inverse/forward velocity and acceleration of the two PKMs. Third, the reachable workspaces of the two PKMs are solved and analyzed. The analytic results are verified by their simulation mechanism.