Kinematic Analysis and Performance Optimization of a 2UPU-2SPU Parallel Mechanism with 2R2T Motion Capabilities.

As research on parallel mechanisms with limited degrees of freedom (DOF) continues to grow, this paper introduces a novel 2UPU-2SPU parallel mechanism that features 2 Rotational and 2 Translational (2R2T) motion capabilities. The SPU branches are symmetrically positioned relative to the plane of the 2UPU branches, endowing the mechanism with a full-circle DOF that encompasses two rotations and two translations. One of the rotational DOF influences the characteristics of a constrained rotational freedom. This study conducts a kinematic analysis using screw theory to elucidate the DOF and derives the inverse kinematics of the mechanism. Furthermore, by employing motion/force transmission performance indicators and performance maps, the mechanical performance characteristics are analyzed. A mathematical model for optimizing mechanical performance using the Particle Swarm Optimization (PSO) algorithm is established, facilitating the design of specific mechanical devices. The mechanism boasts a large workspace, with the operational space varying as the moving platform rotates, making it suitable for applications requiring minimal rotational and lateral movements but significant longitudinal displacement. [ABSTRACT FROM AUTHOR]