Abstract:In order to solve the problem of the singularity in the motion process of traditional 3-RPR planar non-redundant parallel mechanism and the difficulty of the smooth trajectory tracking on large driving torque,a new 3-PRPR kinematic redundant parallel mechanism was proposed . The position, velocity and acceleration models of the parallel mechanism were established and the workspace simulation analysis was carried out based on a kinematics model. The effects of different end-effector positions and sizes, different base circle radius on the workspace were analyzed and compared, and the motion trajectory of the workspace was analyzed. The simulation results show that the position of end-effector only affects directional workspace, but has no effect on reachable workspace. Both directional workspace and reachable workspace are proportional to the base circle radius. The end-effector size is inversely proportional to the directional workspace and directly proportional to the accessible workspace. At the same condition, the working space of the proposed new parallel mechanism is obviously increased compared with the traditional 3- RPR parallel mechanism. The new parallel mechanism was proved to be effective.