A novel SCARA parallel mechanism and its kinematic analysis

This paper proposes a novel 4-DOF SCARA type parallel mechanism. Firstly, the structure of the 4-DOF SCARA PM is introduced and the coupling degree of the mechanisms is calculated being k=1, Secondly, the direct position solution of mechanism is solved by the modeling methods based on the ordered SOC unit. Furthermore, the workspace of the mechanism is analyzed based on reverse position formula. Meantime, the singularity analysis of the mechanism is also performed. Last, the 3D model of the manipulator is designed.