Kinematic Analysis of a Alternately Arranged 2-UPR/2-UPS Parallel Mechanism

This paper proposes a cross-arranged 2-UPR/2-UPS mechanism, which is a non-completely symmetrical parallel four-degree-of-freedom mechanism. There is a certain coupling relationship between the four degrees of freedom of the mechanism. The machine tool adopts a cross-arranged 2-UPR/2-UPS mechanism and a series single swing head. The parallel mechanism part has good stiffness characteristics. The series part can increase the overall reachable posture angle of the mechanism and increase the flexibility of the mechanism. In this chapter, this paper will design the structure of the hybrid mechanism, model the parallel mechanism part, analyze the motion characteristics, calculate the kinematic and dynamic characteristics of the mechanism, and perform Matlab calculations and Solidworks modeling simulations.