Abstract
This paper aims to shed light on the determination of the true mobility for a 3-RPS-3-SPR series-parallel manipulator, which was claimed to be six in [6] without any proof, and shown to be five in [3, 4] with an erroneous proof. Screw theory is used to derive the kinematic Jacobian matrix and the twist system of the mechanism, leading to the determination of its local mobility. I turns out that this local mobility is found to be six in several arbitrary configurations, which indicates a full-cycle mobility equal to six. This full-cycle mobility is confirmed by calculating the Hilbert dimension of the ideal made up of the set of constraint equations. It is also shown that the mobility drops to five in some particular configurations, referred to as impossible output singularities.
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