Kinematic analysis of 5-RPUR (3T2R) parallel mechanisms

Mehdi Tale Masouleh, Clément Gosselin, Mohammad Hossein Saadatzi, Xianwen Kong, Hamid D. Taghirad

Research output: Contribution to journalArticlepeer-review

37 Citations (Scopus)


This paper investigates some kinematic properties of a five-degree-of- freedom parallel mechanism generating the 3T2R motion and comprising five identical limbs of the RPUR type. The general mechanism originates from the type synthesis performed for symmetrical 5-DOF parallel mechanism. In this study, two classes of simplified designs are proposed whose forward kinematic problem have either a univariate or a closed-form solution. The principal contributions of this study are the solution of the forward kinematic problem for some simplified designs-which may have more solutions than the FKP of the general 6-DOF Stewart platform with 40 solutions-and the determination of the constant-orientation workspace which is based on the topology of the vertex space (Bohemian dome) and a geometric constructive approach. © 2010 Springer Science+Business Media B.V.

Original languageEnglish
Pages (from-to)131-146
Number of pages16
Issue number1
Publication statusPublished - Feb 2011


  • 5-DOF parallel mechanisms
  • Bohemian dome
  • Constant-orientation workspace
  • Forward kinematic problem


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