Kinematic and workspace analyses of a novel 4-dof parallel mechanism

this research presents a novel asymmetrical four degree of freedom parallel kinematic machine tool with rotational capability around one of its horizontal axis, developed for milling processes. Mobility analysis is carried out via screw theory and kinematic analyses for position and velocity are done. Form obtained kinematic relationships, the Jacobian matrix is introduced and singularity analysis is carried out and global condition index indicating the dexterity of mechanism is obtained. Finally, the workspace is simulated considering the physical and kinematical constraints. Results, demonstrated the high capability of the proposed mechanism in dexterity and non-singular workspace, which makes the novel mechanism a fitting candidate for milling processes.