摘要: This paper presents the kinematics analysis of a novel5-UPS/PRPU 5-degree-of-freedom parallel machine toolbased on genetic algorithms. The characteristic of the parallelmachine tool is described and the mathematic expression ofthe... 展开 This paper presents the kinematics analysis of a novel5-UPS/PRPU 5-degree-of-freedom parallel machine toolbased on genetic algorithms. The characteristic of the parallelmachine tool is described and the mathematic expression ofthe 5-UPS/PRPU parallel machine tool's velocity mappingmatrix is derived. The genetic algorithms is introduced in thesearch of the singular configuration and the extrema of thekinematics performance of the parallel machine tool. Thenon-singular workspace of the parallel machine tool and thecorresponding extrema of the kinematics performanceevaluation indices are obtained. The numerical analysisresults prove the effectiveness of the algorithm. 收起