Kinetics and Statics Analysis of 2PPPPS-R-2PPPPS Serial-Parallel Manipulator

Abstract

Based on kinetics equations and Euler's equations, the new organized 2PPPPS-R-2PPPPS serial-parallel manipulator conducts a thorough force analysis of each jointed point of the whole mechanism. Given the position and orientation of the manipulator, applied force on the output shaft, parameters of motion of output shaft and connecting bar and sliding block, we can obtain the inverse solution of force screw of each input jointed point can be found by applying theory of wrench of multi-rigid body. Subsequently, effective data is to be visually presented via computer programming and graphing.