The kinematics study of a class of spatial parallel mechanism with fewer degrees of freedom

This paper presents a novel methodology to study the kinematics of a class of spatial parallel mechanisms with fewer degrees of freedom (DoF). Compared with the traditional methods, the distinctive merit of this methodology is that it shortens the whole process greatly based on the analysis of the DoF of the manipulator. Besides, the forward and inverse kinematic problems can be expressed in a set of differential equations. This methodology should solve the kinematic analysis and calculation problems for a class of spatial parallel mechanisms with fewer DoF.