Abstract
In this paper, a novel 6-PUS/UPU parallel mechanism is presented. The mechanism exhibit advantageous characteristics such as higher rigidity, better positioning accuracy and can be used in the fields of vision measure, force control and redundant research. At first, kinematics analysis of the parallel mechanism is carried out; constrained wrench of the moving platform imposed by the middle limb UPU is obtained. Then, singularity analysis is performed.
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