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Parallel Machine Tool (PMT) is a new kind of manufacture equipment came forth in the middle of 90s. It combines mechanics theory, robot technique and numerical technique. Compared with conventional series machine tool, PMT is high rigidity, high load-bearing ability, high precision, low weight, simple mechanism, low manufacturing cost, high standardization, and so on. So, it’s an important developing direction of new machine tool mechanism, and it has been used successfully in many fields, which is attached much importance to by researchers in and out. This few years, few degrees of freedom PMT is becoming the new research direction. In this paper, learn from our predecessors on the theorical study of parallel mechanism, carry out a preliminary study of the 2-PRR-type parallel machine tool, which for further research and laid the foundation for development, as well as adds a new form of less-DOF Parallel Mechanism.In the kinematic analysis, analyze this parallel machine tool by establishing the coordinate system. Calculating the 2-PRR-type parallel machine tool degrees of freedom, desiging the parallel mechanism machine tool portfolio model; establishing the 2-PRR-type parallel machine tool position, velocity, acceleration equations.In the performance analysis of institutions.In this paper, analyze the singular position of the parallel mechanism by calculating the Jacobian matrix. Analysis of the parallel machine tool working space and combine with the working space integrated to design the parallel mechanism. Analysis the parallel machine tool dexterity by calculating the Jacobian matrix condition number to.In the kinetic analysis.firstly, to carry out static analysis, Analysis of parallel machine tool in the static equilibrium of forces. Secondly, to carry out dynamic and static mechanical analysis of parallel machine tool, Analysis parallel machine tool in a state of dynamic equilibrium of forces, adding the inertial force and moment of inertia constraints in the mechanical force balance equation. Finally, dynamic analysis of parallel machine tool, the used of the Lagrange’s equation to establish the dynamic equations of parallel machines.In the simulation analysis, to carry out kinematics simulation of the parallel machine tool by using Matlab-Simulink module, derived out the speed, acceleration and displacement curve of the 2-PRR-type parallel machine tool. to solve the inverse dynamics simulation of parallel machine tool by uing Matlab-SimMechanics module, derived out the parallel machine tool motion station and the driving force curve.
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