Kinematics control of a new 6 PUS-UPS/UPU parallel manipulator with variable mobility

In this paper it puts forward and studies a new kind 6 PUS-UPS/UPU parallel manipulator. The mechanical structure is simple, and can achieve high rigidity, high precision machining and can also be used to vision measure and force control research, redundant control study. Firstly, the degree of freedom about the parallel manipulator is analyzed by using the screw theory. Then according to the geometrical characteristics of institutions and D-H method, the kinematics of the parallel manipulator is analyzed. Open architecture composed of IPC and PMAC is adopted for the kinematics control system hardware. The control software, based on Windows OS, is designed with the functional modularization. The prototype of the parallel manipulator is developed. The debugging and machining experiments are performed.