| Summary: | To achieve the spatial variable curvature bending process of metal pipes, one 3PUU–3RPS hybrid mechanism designed for the free-bending forming of pipes is presented in this study. Its kinematics model was conducted based on theoretical analysis, and the obtained result was validated through ADAMS simulation. Through the theoretical analysis, the inverse position model of the proposed mechanical construction, which can show the relationship between the motion and the drive of the working platform, was presented. The velocity Jacobian matrix was also obtained and analyzed by establishing the inverse velocity model and inverse acceleration model. In addition, the static stiffness analysis of the proposed mechanical construction was also conducted in ABAQUS. Finally, by investigating its working space, the capability of 3PUU–3RPS mechanism was proved.
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