The Inverse Kinematics of a New Planar Hybrid Robot Manipulator

Abstract

The amount of robots in industrial automation systems is increasing day by day. As a result, the designs of robots are diversifying. The robot industry, which serial and parallel robots have dominated until today, is witnessing a new type of robot named hybrid robots. But it must be admitted that hybrid robots are still in their infancy. More new, hybrid robot designs have begun to attract the attention of the robot community. To contribute to this emerging interest in hybrid robots, a new planar hybrid robot is proposed in this book chapter. First, the general structure and conceptual design of this new planar hybrid robot, including joint types, are explained in detail. Following this, the schematic of the robot is given. Second, the kinematic equations of this robot are obtained using the DH method. Afterward, the inverse kinematics of the proposed hybrid robot is obtained. Finally, a numerical example is given to better understand the proposed new planar parallel robot.