Design of a 5-DOF Parallel Manipulator

Based on the systematic methodology of reciprocal screws theory, a structure synthesis approach for forming a 5-DOF parallel manipulator is presented. All the possible joints assemble and space geometric relationship for forming an independent link of 5-DOF according to the linear relationship of provided reciprocal screws to platform is studied. As examples, two kinds of typical 5-DOF parallel manipulators are designed with this method.