Kinematics and Dynamics Analysis of a 3UPS-UPU-S Parallel Mechanism

Round 1

Reviewer 1 Report

1. From reading the publications on 6-axis or multi-DOF manipulators, it is difficult to realize what the main developments or idea behind this manuscript give. As referenced in [8], [10], and [11], there have been many publications on the multi-joint motion planar. I cannot find the key technology of this manuscript.

2. What is the difference or novelty to [5] and [8]?

3. Figures about the results of simulation on the mathematical model and experiment on the practical mechanical system should be given to demonstrate the validity and accuracy of the mathematical model, as concluded at the last.

Author Response

Please read the attached response. Thank you so much.

Author Response File: Author Response.pdf

Reviewer 2 Report

The authors propose a two-rotational degree of freedom parallel mechanism with five kinematic 8 subchains (3UPS-UPU-S) for an aerospace product. In this context, the methodology and analysis of the solution are clear and precise in its mathematics together with the results and their discussion. However, I make some suggestions for the improvement of the article:

1) More than 40% of the references are old. If possible update them.

2) In the introduction the contributions are not clear. I suggest writing a paragraph in this section clearly listing the contributions of the paper and their differences with the state of the art.

3) I suggest that in the conclusion you place and mention important hard results obtained in your analysis.

I suggest an exhaustive revision of the English since there are some typos and errors in writing and grammar.

Author Response

Please read the attached response. Thank you so much.

Author Response File: Author Response.pdf

Reviewer 3 Report

The presented mechanism is not motivated in the context of its application or the advantages with respect to other closed-chain mechanisms.

The degrees of freedom of the mechanism have to be formally computed.

The dimensions of the variables must be provided.

Some preliminaries are outside the scope of the main contribution.

The kinematic analysis must include the independent variables to manipulate the end effector, the workspace, and the movement restrictions. A similar aspect should be included in the dynamic analysis. As presented, the analysis still lacks these elements.

Author Response

Please read the attached response. Thank you so much.

Author Response File: Author Response.pdf

Round 2

Reviewer 1 Report

1. As presented in the revised version, the developed method on modeling the 3UPS-UPU-S parallel mechanical device is one of the main contributions behind this paper. I think how to perform the accuracy of the mathematical model becomes an important and essential work. However, due to some reasons, this manuscript cannot show the validity of the developed mathematic model by a comparison of illustrations with practical experiments obtained from the real device. Maybe, the authors could give another modeling method and table the differences between them to let readers understand the possibility of the developed method.

2. From view of the modeling equations, the force signals must be required although the acceleration signals in modeling are not essential. This means that the force detectors/sensors must be equipped, right?

Author Response

Thank you for your comments! Please see the attached reply.

Author Response File: Author Response.pdf

Reviewer 3 Report

The article was corrected according to the main observations.

Author Response

Thank you for your comment!

Author Response File: Author Response.pdf

Round 3

Reviewer 1 Report

It can be acceptabe for the next step.