A methodology is proposed for unified solving active wrench of the limited-degree of freedom (DOF) parallel manipulators (PMs). First, the geometric constraints and the inverse displacement kinematics are analysed. Second, the formulae for unified solving the inverse/forward velocity and the translational/rotational Jacobian matrices and inverse/forward Jacobian matrices are derived. Third, the analytic formulae for unified solving the active wrench of limited-DOF PMs are derived based on the principle of virtual work. Finally, a 3-DOF PM with linear/rotational active legs is presented to illustrate the use of the methodology.
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