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

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For the last decades, industrial manipulator robots have been the best way for factories to automate their applications to save money and time with mass production. There are many applications the industrial robot can do like welding, assembly, packaging, and pick and place. So, the researcher head to improving and developing the end-effectors tools for wide application for industrial robots. This paper presents the full KUKA KR6 R900 kinematic with complete workspace analysis. Also designs and implements an adaptive soft gripper with a lowcost budget and lightweight as an end-effector tool. This gripper can grip various objects of various shapes, so it can save time instead of wasting time by replacing the grippers to fit the object or the product. The results show that the adaptive gripper can successfully grasp many objects of various shapes. Also, it can grasp gently without harming or damaging the object. Furthermore, the kinematics solution of the KUKA manipulator robot was presented. Finally, the complete workspace for the KUKA KR6 R900 was analyzed and presented.