Kinematic Analysis of a Novel 4-UPS-UPU PCMM

A novel 4-UPS-UPU PCMM (parallel coordinate measuring machine) with three translations and two rotations is proposed, and its kinematic analysis is studied systematically. First, the structure characteristics of the 4-UPS-UPU PCMM is analyzed. Second, a new solution for position analysis of 4-UPS-UPU PCMM, which without the construction of mathematical model, is put forward. Third, The curves of the length of actuating limbs respecting with motion of pose was obtained by Matlab software, the curves of velocity and acceleration were generated from the curve of the actuating limbs. The analytic results are verified by its simulation mechanism.