Scale Optimization of the 7SPS Parallel Mechanism with Fewer Active Inputs than the DOFs

This paper delves into the motion principles of the 7SPS parallel mechanism with fewer active inputs than the DOF, thoroughly analyzing the velocity mapping relationship and motion/force transmission performance of its active and passive limbs. Building upon theoretical research, the paper further conducts scale optimization of the mechanism based on the velocity mapping and motion/force transmission performance, aiming to enhance its overall motion efficiency and mechanical transmission effect. Through this series of research and optimization, the paper provides a solid theoretical foundation and practical guidance for the prototype design of the 7SPS parallel mechanism, promising to propel technological advancements and application expansion in this field.