Structural synthesis and analysis of serial–parallel hybrid mechanisms with spatial multi-loop kinematic chains

Design and Analysis of a Novel Coupled Mechanism Based on a Spliced Polyhedron with Two Regular Tetrahedrons

“…Many coupled structures, such as the retractable canvas, network antenna for Space Station and magical Hoberman SwitchPitch Ball, have been used to in certain workplace to meet higher requirements. However, the traditional methods and theories for synthesizing parallel mechanisms [6][7][8][9][10] are not appropriate for the coupled structures.…”

Dynamics model of redundant hybrid manipulators connected in series by three or more different parallel manipulators with linear active legs

“…A redundant hybrid manipulator is formed by connected in series n PM j with linear active legs ( j = 1, …, n; 3 ≤ n). Currently, various PM 1 + PM 2 have attracted many attentions because they have higher stiffness than serial manipulators, larger position workspace and better dexterity than one PM [1][2][3][4][5]. Comparing with PM 1 + PM 2 , the redundant hybrid manipulator generally has more DoFs, larger position workspace and larger orientation workspace.…”

“…Therefore, the redundant hybrid manipulator may be applied to snake arm robots [2], elephant nose type robot [3], robot-assisted surgery [4], humanoid robot's arm/leg, complicated assembly unit, rescue robot, in-pipe robot and so on. In the aspect of hybrid manipulators, Zeng and Fang [5] synthesized a type of serial-parallel hybrid mechanisms with spatial multi-loop kinematic chains based on the displacement group theory. Tanev [6] presented a serial-parallel hybrid mechanism and gave its closed-form solution for the position problem using a vector approach.…”

Position Analysis of a Hybrid Serial-Parallel Manipulator in Immersion Lithography

“…Ibrahim and Khalil [14] discussed the dynamic models of the hybrid robots in 2010. Zeng et al [15,16] analyzed the hybrid serial-parallel mechanisms with spatial multiloop kinematic chains in 2012 and put forward a design method of hybrid manipulators with kinematotropic property and deployability in 2014. Kinematic analysis is the basic issue for the parallel mechanism studies, and the position analysis is the first step of the kinematic analysis.…”