Mechanism design, position analysis and simulation of a new six degree-of-freedom serial-parallel manipulator

In this paper, a new 6-DOF serial and parallel manipulator with a 3-rotation parallel mechanism and a 3-DOF serial manipulator (two-prismatic plus one-revolute) is synthesized and investigated according to the theories of the structure synthesis of robot mechanisms. It is able to perform spatial transformational movement, rotation, hoisting, tilting, planar rotation and tilted rotation. The mechanism is analyzed, its kinematic position equations are developed, inverse and forward kinematics of its fine tuning structure have been focused. Kinematic simulation with ADMAS is conducted, which verified the correctness of the design, also an application case of this serial-parallel mechanism is provided. The mechanism features high workspace volume, rotational flexibility, stable balance, precision and load capacity, and can be extended to agricultural planting and picking, lumber machines and other areas.