Kinematics of a hybrid (parallel–serial) robot manipulator

This paper presents a kinematic analysis of a new type of hybrid (parallel–serial) robot manipulator. The hybrid robot manipulator under consideration consists of two serially connected parallel mechanisms. Each mechanism has three degrees of freedom, so that the overall degrees of freedom of the robot are six. Closed-form solutions for the direct and inverse position problems have been obtained. The theoretical results have been verified numerically and some results have been presented graphically.