A new family of asymmetric 2UPU+X parallel manipulators is proposed. It includes two identical UPU-type active legs and one X-type active leg which may be various five-degree-of-freedom serial mechanisms. First, their common kinematic characteristics and singularity are analysed, and some common formulae for analysing inverse-forward kinematics, solving active/constrained force transformation matrix and active/constrained forces, are derived. Second, three asymmetric 3-UPU, 2UPU + SPR, and 2UPU + RPRU parallel manipulators are created, their kinematics and singularity are analysed, and their active/constrained forces are solved.
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