Kinematics and Stiffness Analysis of a Novel 5-DOF Parallel Mechanism

A novel five-degrees-of-freedom (DOF) P(2PRPU)/PRPS double-driven parallel mechanism (PM) is proposed in this study, and its kinematics and stiffness are studied systematically. First, the structural configuration is described, and the degrees of freedom of the parallel mechanism are analyzed based on constraint conditions. Next, the position model, velocity model, and Jacobian matrix are derived, and the workspace and kinematic performance of the mechanism are studied. Third, based on the principle of virtual work, a static model and a deformation decomposition method are employed to construct the stiffness model, resulting in the corresponding stiffness and compliance matrices. Finally, the stiffness performance of the mechanism is analyzed using the derived compliance matrix. This study is expected to provide new insights for the design of machining tools.