Solving driving forces of 2(3-SPR) serial-parallel manipulator by CAD variation geometry approach

A novel 2(3-SPR) serial-parallel manipulator is proposed. A novel approach for solving driving forces of the 2(3-SPR) parallel manipulator is proposed by using the virtual work theory and the computer aided design variation geometry. The solving procedure of this method is divided into following steps: First, constitute air initial simulation mechanism by using link dimension chains and driving dimensions of driving limbs; and then constitute a workloads simulation mechanism by using central force and central torque on initial simulation mechanism; finally constitute the force/torque simulation mechanism by giving a virtual displacement to one of the driving limbs, so that the virtual displacement about force and torque can be drawn, the driven force of this driven limb can be calculated by using the virtual work theory. In the same way, the others driven forces can be gotten.