Kinematic analysis of a 5-\(\underline {\text R}\)SP parallel mechanism with centralized motion (Q2429894)

A 5-RSP parallel mechanism has five identical legs connecting the fixed base and the moving platform. Each leg consists of a revolute-spherical-prismatic link combination. The active joint of the mechanism is one of the revolute joints in the base, the other revolute joints should be connected to this joint via a gear system which is not discussed. Because of the special geometry the basic kinematic tasks, forward and inverse kinematics are highly simplified and can be solved in closed form. The motion of the platform consists of a rotation about a fixed axis and a sinusiodal translation along this axis depending on the input angle. Velocity analysis is performed and used to prove the motion behavior of this strange and overcomplicated mechanism.