R&D of living assistant serial and parallel robot-analysis of motion and function

This paper proposes a new model of 4-DOF mixed serial and parallel robot for living assistance, which combines stable structure and high rigidity of the parallel mechanism and wide workspace of the serial mechanism organically. The rotary DOF with 3 rotary axes intersecting one point enables the end effector to change its location, by as much as 360/spl deg/. One linear DOF can adjust the height of the end effector. The model can be applied for nursing and recuperation, if other devices be connected to it, or can be made into a medical operating platform.