The kinematics analysis for a five DOF serial-parallel manipulator with RP-(2-RRU/1-RUU) structure

In this paper, the serial and parallel manipulator with RP-(2-RRU/1-RUU) Structure is developed. Firstly, we will establish the coordinate system for the serial and parallel manipulator and derive its spiral movement through the Spiral Principle. Then according to the spiral movement, we will get its DOF. Secondly, we will describe the solving process of the inverse kinematics for the serial and parallel manipulator. In order to be sure that the solving process is correct, thirdly, we will simply check whether the kinematics inverse for the parallel part is right. In the end, some conclusions will be derived from the analysis process for the whole paper.