Inverse kinematics solution of a new hybrid robot manipulator proposed for medical purposes

In this paper, a new hybrid robot manipulator is proposed for medical purposes. This hybrid robot manipulator has been formed by combination of a serial and a parallel robot manipulator. The inboard joints of new hybrid robot consist of 3-DOF SCARA type robot manipulator that performs positioning of the end effector. The outboard joints of the new hybrid robot consist of Stewart platform parallel manipulator which is used for orientation of the end effector only. Afterwards, the inverse kinematics of this new hybrid robot manipulator is obtained by using DH method. A numerical example is also given in order to demonstrate the working of the model.