Abstract
This paper investigates some kinematic properties of a five-degree-of-freedom parallel mechanism generating the 3T2R motion and comprising five identical limbs of the RPUR type. The general mechanism originates from the type synthesis performed for symmetrical 5-DOF parallel mechanism. In this study, two classes of simplified designs are proposed whose forward kinematic problem have either a univariate or a closed-form solution. The principal contributions of this study are the solution of the forward kinematic problem for some simplified designs—which may have more solutions than the FKP of the general 6-DOF Stewart platform with 40 solutions—and the determination of the constant-orientation workspace which is based on the topology of the vertex space (Bohemian dome) and a geometric constructive approach.
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