Design and kinematics of serial/parallel hybrid robot

Nowadays contemporary economic growth and increasing industrial needs demand robots to have a multifunctional properties such as a wide applicability, precision, wide workspace and simple robot-human interface. Modern, robot industry presents two types of robot architecture: serial and parallel, serial robots have a wide workspace, easy forward kinematics and have a wide applicability in industry, while parallel manipulators are not applies widely in industry. However, parallel manipulator has some beneficial properties as well, such as rigidity, high payload capacity and high precision. Although majority robots in industry are serial manipulators, but some areas of industry where requires high precision and rigidity utilizes parallel manipulators such as medicine, pharmacy and microchip assembling industry. The novelty of this project is creating of new type of robot combination: common serial manipulator with Delta robot. Furthermore, to investigate capabilities of this Hybrid robot in terms kinematics, dynamics, payload capacity and accuracy. Moreover, this research will explain serial/parallel hybrid manipulator design structure, workspace control system and kinematics of both manipulators as well.