2014 Volume 134 Issue 12 Pages 1783-1795
In this paper, structurally-novel manipulator called “hybrid manipulator” is proposed. The hybrid manipulator is defined as a serial connection of a binary manipulator and 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 has advantages of both the binary manipulator and the parallel manipulator. An inverse kinematics algorithm of hybrid manipulator is also proposed. The proposed algorithm consists of ellipsoidal approximation of the workspace and recursive process. The proposed algorithm can realize fast solution of the inverse kinematics problem. The proposed algorithm is verified through numerical experiments.