Workspace Analysis of 2-RPU & 2-SPS Spatial Parallel Mechanism

In this paper, the workspace of a new type of spatial parallel mechanism (SPM) is studied, namely 2-RPU& 2- SPS. Firstly, the model and components of parallel mechanism are introduced, and the degree of freedom (DOF) is calculated. Secondly, the inverse kinematic solution equation of the mechanism was established, the constraint conditions of the components were analyzed. Finally, the workspace of the mechanism was solved by MATLAB software, and the position and posture workspace of the mechanism was obtained, and the method of approximate calculating the area of the position workspace by using “point set”. The results provide a theoretical basis for the further study of this kind of low degree of freedom parallel mechanism.