Kinematic and Dynamic Analysis of 2-PR(Pa)U-2-PR(Pa)R Parallel Mechanism

Parallel kinematic machines are closed-chain mechanisms with high accuracy and stiffness. Kinematics and dynamics of these manipulators are complicated due to the closed-loop structure and the constraints that exist for these manipulators. These mechanisms have some limitations like having erratic workspace, singular points in the workspace and complexity of control systems. These limitations should be studied for suitable usage of parallel mechanisms.
This paper presents a novel 4-DOF parallel manipulator with 3 different linear motions and one rotational motion around x direction. Inverse and forward kinematic models of 2-PR(Pa)U-2-PR(Pa)R parallel machine tool mechanism are developed and also simulated by the code written in MATLAB. The results obtained by the mathematical model for the kinematics of the mechanism are verified using motion analysis under Solid Works. Workspace and singularity analysis are done by solving the kinematic relations and using Matlab software. To investigate the results of workspace analysis the structure has been modeled in Solidworks software and the obtained workspace have been validated using the simulation Finally the Newton-Euler method for inverse dynamic analysis of the proposed robot has been used. Therefore, moving path of the end effector, considering the various loads on it can be determined. By defining the path of platform with the specified velocity profile, inverse dynamic model simulated by the code written in MATLAB and diagram of actuator forces obtained and analyzed.