A novel computer aided geometry approach for type synthesis and analysis of new spatial 4-DOF parallel manipulators is put forward

and the computer simulation mechanisms of parallel manipulators is created by using the geometric constraints and dimension driving techniques in CAD software.Based on the computer simulation mechanisms of parallel manipulators

several new spatial 4-DOF parallel manipulators are synthesized

the kinematic characteristics of the moving platforms are analyzed by computer simulation.The results of computer simulation indicates that the computer aided geometric approach for solving type synthesis and kinematic analysis is not only fairly quick and straightforward

but also has the advantages of accuracy.