Kinematics Analysis of a 4PRR-P Hybrid Machining Mechanism

Abstract

In this paper, a new type of 4PRR-P hybrid machining mechanism is presented. Based on the screw theory, the degree of freedom of the mechanism is verified. We solve the inverse position model of the the mechanism. The workspace of the mechanism is solved by the boundary search algorithm. The reasonable ranges of key scale parameters are obtained by investigating the influence of the parameters of the mechansm on its workspace. The above kinematic analyses and solving results can provide corresponding references for subsequent mechanism dynamics analysis and structural design.