In this work, a novel 6-DOF parallel manipulator is proposed. The manipulator is designed in the form of a five-bar spatial linkage with spherical-universal-universal-universal-spherical architecture, where actuation comes from two spherical joints. Unlike conventional 6-DOF parallel manipulators with six kinematic subchains, this new design has only two subchains, which brings kinematic advantages such as large workspace and small footprint ratio. An analytical approach is presented to determine the inverse position of the linkage, based on which the sixteen working modes are analyzed. Closed-form equations are formulated for the forward position problem, upon which the corresponding sixteen assembly modes are investigated. With velocity equation established, several singular configurations are determined. Two practical applications of the proposed linkage are illustrated.

在这项工作中，提出了一种新颖的六自由度并联机械手。机械手以五杆空间联动的形式设计，具有球形-通用-通用-通用-球形结构，其中致动来自两个球形接头。与具有六个运动子链的常规6自由度并联机械手不同，此新设计仅具有两个子链，这带来了运动学上的优势，例如工作空间大和占地面积小。提出了一种确定连杆机构反向位置的分析方法，在此基础上分析了十六种工作模式。针对前向位置问题建立了封闭形式的方程，在该方程上研究了相应的十六种组装模式。通过建立速度方程，可以确定几种奇异配置。