Motion/Force Transmissibility of a 5-DOF Parallel Driving Mechanism

In this paper, a spatial parallel driving mechanism (PDM) with a coupling chain is proposed to generate the 5-DOF (3T2R) motion. A description of its mechanism topology is presented to investigate the characteristics of motion/force transmissibility of the 5-DOF PDM. The medial transmission wrench and equivalent transmission wrench are presented by considering the transmission wrench of the local loop mechanism. Then, the motion/force performance indices that consider the input and output transmission index and equivalent transmission index are extended to evaluate the performance of the proposed PDM. As a result, the good transmission workspace is identified under the given parameters.