Abstract
This paper analyzes the lifting mechanism of one forging manipulator. The lifting mechanism is a hybrid serial-parallel mechanism, composed of a parallel 4R mechanism and a parallel mechanism. At first, mobility properties of the lifting mechanism are analyzed based on screw theory. Then, position analysis of the lifting mechanism is carried out. Because the motions of lifting, pitching and back-and-forward translation are independent of the motions of left-and-right translation and yawing, the lifting mechanism can be divided into two independent mechanisms, i.e., position analysis of these two mechanisms can be carried out separately.
