中文摘要：

提出了能实现二维转动和二维移动的空间4-UPS-RPU4自由度冗余驱动并联机构,并对该机构进行了运动学和工作空间分析。4-UPS-RPU并联机构包含5条驱动分支,其中4条分支为UPS（虎克铰-移动副-球副）结构,1条分支为RPU（转动副-移动副-虎克铰）结构。建立了该机构的位置反解数学模型,推导出了该机构的速度雅可比矩阵和加速度分析表达式,求解了机构的位置反解、速度和加速度,并在此基础上分析该机构的工作空间。研究结果为4-UPS-RPU冗余驱动并联机构的实际应用提供了理论依据。

英文摘要：

A novel 4 - UPS - RPU spatial 4-degree of freedom redundant actuation parallel mechanism, which can achieve two rotational DOF and two translational DOF, is introduced, and the kinematics and workspace analysis are carried out. 4 - UPS - RPU parallel mechanism includes five limbs, four types of universal joint--prismatical joint--spherical joints and one type of revolution--prismatical joint-- universal joint. The reverse solutions of position analysis for the parallel mechanism are presented, and the Jacobian matrix and acceleration equation are derived. The inverse position, velocity and acceleration of this parallel mechanism are solved, and on this basis, the workspace of the parallel mechanism is analyzed. The research can provide a theoretical basis foundation to promote application of 4 - UPS - RPU redundant actuation parallel mechanism.