中文摘要：

提出了一种4-UPS—RPS新型空间5自由度并联机器人机构．运用约束螺旋理论分析了4-UPS—RPS并联机器人机构实现3转动和2移动5个自由度运动的机构学原理，计算其自由度，分析其驱动输入选取的合理性．建立了4-UPS—RPS并联机器人机构的静力学平衡方程和静力传递矩阵，以该机构作为并联机床的应用实例，求解其静力学方程．该研究为并联机构的优化设计和运动规划提供了理论依据．

英文摘要：

A novel 4-UPS-RPS spatial five-degrees-of-freedom parallel robot mechanism is presented. The principles that the mechanism can perform three-dimensional rotation and two-dimensional translation are analyzed by using screw theory, the degree of freedom of the mechanism is calculated, and the actuating input selection is discussed. The force balance equation and static transfer matrix are established. Taking 4-UPS-RPS parallel robot mechanism as the application of parallel machine tool, the statics analysis is realized. This research can provide a theoretical basis for the optimum design and motion planning of 4-UPS-RPS parallel mechanism.