Abstract:Kinematics study of a special configuration 6UPS parallel machine tool was presented. A virtual prototype model was created according to the physical machine tool, and describing its position and orientation transformation through using Lie groups and Lie algebra theory. The degree of freedom (DOF) of the machine was analyzed via using screw theory. The workspace figure of the machine was solved based on inverse kinematics, describing the scope of geometry can be processed by this machine. Then, on the basis of kinematics model, the forward position kinematics of the machine was studied by using a fourelement method and introducing generalized inverse, obtaining the only forward positive solution. Finally, through the virtual prototype simulation, the process of inverse kinematics and forward kinematics of the machine, velocity Jacobin matrix of the parallel machine tool, motor drive functions and geometric constraints, and etc., were analyzed, which providing a reference for further study on its movement performance and control.