Kinematics and Dynamics Analysis of a New 5-Degrees of Freedom Parallel Mechanism with Two Double-Driven Chains

This paper focuses on the design analysis of a novel 5-degrees of freedom (DOF) double-driven parallel mechanism (PM). By arranging two independent actuators on one branch chain, the mechanism can realize the five degrees of freedom of the moving platform only by relying on three branch chains, which have the characteristics of a compact structure and large workspace. Subsequently, the kinematic model of the mechanism is established, and the workspace, dexterity, and singularity characteristics are analyzed based on the derived model. Additionally, an explicit dynamic model of the mechanism is established based on the principle of virtual work. Finally, based on the dynamic model, the manipulability ellipsoid index and the inertial coupling strength index are proposed, and the distribution of these two kinds of dynamic performance indexes in the workspace is studied.