Kinematics analysis of a novel 6-(P-2P-S) parallel robot

A novel 6-(P-2P-S) parallel robot is put forward. With the character of some movement decoupling on the orthogonal pose, the robot has been used as the macro manipulator of the macro/micro dual driven robots. Based on the design features, the position problem and the kinematics performance of the robot are analyzed. The velocity transmission evaluation indicators are defined. Considering structure constraints, the distribution of velocity transmission evaluation indicators in the constant orientation workspace is analyzed, which is used as the theoretical foundation of application. Because of the characters of simple structure, high carrying capacity, less motion inertia, good manufacturability, the 6-(P-2P-S) parallel robot can also be used as the MEMS equipment of optical, medical, and biological fields, etc.