Kinematics and Dexterity Analysis for a Novel Hybrid Kinematic Machine



In this paper a novel 4 Degree-of-Freedom (DOF) parallel mechanism with the configuration of 4PUS-1RPU is applied for a 5-axis Hybrid Kinematic Machine (HKM), combined with an additional linear motion. The Parallel Kinematic Mechanism (PKM) is composed of four symmetrical driving chains and one central passive sub-chain. Firstly, the mechanism is described, and the mobility is analyzed. Then the inverse kinematics of the 4-DOF PKM and the direct kinematics for the serial central sub-chain are then presented. The dexterity and the workspace analysis for the mechanism are also carried out. Finally, machining experiment research is presented to verify the effect of the prototype. The research provides the basis for the further parametric design with consideration of kinematic and dexterity performance.




W.B. Lee, C.F. Cheung and S. To




H. J. Yu et al., "Kinematics and Dexterity Analysis for a Novel Hybrid Kinematic Machine", Key Engineering Materials, Vol. 516, pp. 420-425, 2012


June 2012




[1] B. Dasgupta, T.S. Mruthyunjaya, The Stewart Platform Manipulator: A Review, Mech. Mach. Theory 35 (2000) 15-40.

[2] C. Gosselin, R. Richard, M. Nahon, A comparison of architectures of parallel mechanisms for workspace and kinematic properties, ASME Journal of Mechanisms, Transmissions, and Automation in Design 110 (1995) 35-41.

[3] T. Shibukawa, T. Tooyama, H. Ohta, Development of parallel mechanism based milling machine, Proc. of the ASME. MED. 8 (1998) 691-698.

[4] T.H. Chang, S.L. Chen, C.A. Kang, Design optimization of the linkage dimension for a hybrid-type parallel kinematic machine tool, P I Mech. Eng. K J Mul. 216 (2002) 143-156.

[5] A. Fattah, G. Kasaei, Kinematics and Dynamics of a Parallel Manipulator with a new architecture, Robotica 18 (2000) 535-543.


[6] F. Pierrot, O. Company, H4: a new family of 4-DOF parallel robot, ASME Int. Conf. on Advanced Intelligent Mechatronics, Atlanta, GA , USA, (1999) 508-513.


[7] D. Zlatanov, C.M. Gosselin, A new parallel architecture with four degrees of freedom, Proc. Of the 2nd workshop on Computational Kinematics, Seoul, Korea (2001) 57-66.

[8] W.J. Chen, M.Y. Zhao, J.P. Zhou, A 2T-2R, 4-DOF Parallel Manipuator, SME 2002 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference (IDETC/CIE2002), Montreal, Quebec (2002) 881-885.

[9] G. Pond, J.A. Carretero, Formulating Jacobian matrices for the dexterity analysis of parallel manipulators, Mech. Mach. Theory 41( 2006) 1505-1519.


[10] J.Y. Guo, Y.X. Liu, J.H. Shi, G.Q. Cai. Analysis on the processing dexterity of 3-UPS Parallel Robot, 2008 IEEE International Conference on Automation and Logistics, Qingdao (2008) 2476-2480.