Novel continuous/binary hybrid manipulator structure and its workspace approximation algorithm

This paper proposed a structurally novel “hybrid manipulator”, which serially connects a binary manipulator with a Gough-Stewart type parallel manipulator. Both structures are known as high rigidity and stability for static loads. The binary manipulator has wide workspace, however, its workspace is discrete. On the other hand, the parallel manipulator has high accuracy for continuous positioning, however, its workspace is narrow. Therefore, the proposed structure possesses advantages of both the binary and parallel manipulators. This paper also proposes an ellipsoidal outer approximation of the manipulator´s workspace. This approximation can be utilized in an inverse kinematics algorithm. Some numerical experiments will show the validity of the proposed approximation algorithm.