Kinematics Analysis of the 5-DOF Parallel Manipulator with One Center Driven Branch
A novel 5-DOF parallel manipulator with one center driven branch is proposed.The degree of freedom and structural characteristics of the mechanism are analyzed.The formulae for the kinematics relationship between the driving branches and the moving platform is deduced by vector method.Based on the arrangement of joints in the center driven branch,the constrained force/torques are determined,the Jacobean matrix and Hessian matrix of the parallel manipulator are derived.The kinematics model of the 5-DOF PM with central driving branch is established.The correctness of kinematics model of the mechanism is veri-fied by advanced CAD software.The workspace of the PM is analyzed when the orientation of the moving platform is given.That provide the theoretical and technical foundations for its dynamics analysis and application.
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