| Since the application of 6-DOF parallel manipulator to the flight simulator in 1965, the parallel robots named Stewart platform and many kinds of parallel machine tools have obtained much development in both theory and practice area. However, there is a lack of deficient DOF mechanisms due to the difficulties of the type design of parallel manipulator as the kinematic performances determined by the mechanism architectures themselves. So the innovaton of the structure type of the parallel robots or parallel machine tool is more crucial in the robotic area. For this purpose, the author has given more detailed and thorough study of main mechanism module of experimental parallel machine tool model for the viewpoint of mechanism.Analyzing the development tendency of the present machine tool technology, we presented a new, which adopted parallel mechanism to the cutting tool both directs feeding movement and serial mechanism to the workpiece feeding movement. It has the advantages of simple structure,higher stiffness,larger working space,simple kinematics equations,no motion coupling and no singular pose.It can be. used for milling,drilling,polishing and other machining process with suitable tools. Positive and negative solution of a 2-DOF planar structure was given. The paper has also analyzed the kinematic performances and dynamic performances of the main mechanism module of experimental parallel machine tool model. For example, the forward and inverse kinematic solutions, bizarre place of manipulator, Jacobian matrix, workspace, force, dexterous maneuverability etc. .Furthermore,the workspace of the mechanism was analyzed. It has relation with the journey of the slipway and the relation between dimensions of the mechanism.The geometry shape of the workspace under all kinds of situation was given.The modularization design can rapidly combine and design different DOF of machine tools.What we studied offers theories to further application for the parallel structure.
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