Workspace Analysis and Path Planning of a Novel Robot Configuration with a 9-DOF Serial-Parallel Hybrid Manipulator (SPHM)

The development of serial or parallel manipulator robots is constantly increasing due to the need for faster productivity and higher accuracy. Therefore, researchers have turned combining both mechanisms, sharing advantage from vice versa. This paper proposes a new configuration design serial-parallel hybrid (SPHM) using industrial robotic KUKA Kr6 R900 3-DOF spherical mechanism. has six degrees freedom (6-DOF) divided into three joints translation (x, y, z) another orientation (A, B, C) end-effector mechanism with paired links. On contrary, each limb consists revolute–revolute–spherical (3-RRS). allows movement along Z-axis movements about X- Y- axes. will enrich in flexibility expand workspace robots. In addition, complete conceptual presented detail robot schematic experimental setup. Then, comprehensive mathematical model was derived solved. forward, inverse kinematics, analyses were graphical solution. Additionally, tested path planning. Moreover, an setup prepared test selected path. Finally, can enlarge manipulators matched test.