Abstract— It is significant to develop a limited-DOF parallel manipulator (PM) with high rigidity. However, the existing limited-DOF PMs include so many spherical joint which has less capability of pulling force bearing, less rotation range and lower precision under alternately heavy loads. A novel 5-DOF PM with two planar limbs is proposed and its kinematics is analyzed systematically. A 3-dimension simulation mechanism of the proposed manipulator is constructed and its structure characteristics are analyzed. The kinematics formulae for solving the displacement, velocity, acceleration of the platform, the active legs are established. An analytic example is given for solving the kinematics of the proposed manipulator and the analytic solved results are verified by the simulation mechanism. It provides the theoretical and technical foundations for its manufacturing, control and application.
Keywords— kinematics, limited-DOF, parallel manipulator, planar limbs, singularity
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