Singular kinetics analysis of universal Cartesian serial-parallel manipulator

New type of universal Cartesian serial-parallel manipulator in singular configuration, kinetics equations and Euler´s equations constructed, complete analysis of each jointed points of the moving platform carried out, inverse kinetics solution can be obtained with the given parameters, which include the position and orientation of the manipulator, applied force on the output shaft, parameters of motion of output shaft and connecting bar and sliding block, Newton-Euler method adopted to analysis its kinetics,program used to get the intuitionistic graph result of analysis, conclusion deduced from the result, difference exist in the changing rule of force of joints on upper layer platform and under layer platform, the changing rule of force of joints on the same platform is the same, sensitive exist in direction of axis x,y,z of force of joints on under layer platform, while sensitive exist in direction of axis z of force of joints on upper layer platform only.