Kinematics/statics analysis of a novel 2SPS + PRRPR parallel manipulator

In this paper, a novel 2SPS + PRRPR parallel manipulator with 3-leg 5-dof is proposed, and its kinematics, statics and workspace are studied systematically. First, the structure constraints and the inverse displacement are analysed. Second, the formulae for solving the inverse/forward velocities and accelerations, the active/constrained forces are derived. Third, a workspace is constructed and analysed. The analytic results are verified by its simulation mechanism to be consistent with the calculated ones.