Design and Simulation Analysis of a Hybrid Manipulator

Xue, Zi Yun; Zhang, Bin; Jia, Ji Xing; Zhang, Dong-Bo

doi:10.4028/www.scientific.net/amr.712-715.2255

Cited by 1 publication

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“…A hybrid manipulator [1,2,3] consists of a serial manipulator [4] mounted on top of a parallel manipulator [5] or it can also be a parallel manipulator on top of parallel manipulator [6,7]. By mounting serial manipulator on top of parallel manipulator, we try to improve the load carrying capacity of the serial manipulator, due to better load carrying capacity of the parallel manipulator.…”

Section: Introductionmentioning

confidence: 99%

Modelling and Workspace Analysis of Parallel-Serial Hybrid Manipulator

Abhishek

Bellary

Keerthana

et al. 2015

AMM

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The workspace and load bearing involved in a given operation are the deciding criteria for choosing the size and type of the manipulator that has to be used. The hybrid manipulator, which is a serial manipulator mounted on top of a parallel manipulator, derives benefits from both, such as better rigidity from the parallel manipulator and better dexterity from the serial manipulator. In this paper, comparative study of workspace and effectiveness of a hybrid manipulator is done to bring out its advantages, in comparison to a parallel or a serial manipulator. The workspace is determined using geometrical techniques. The effect of having inclined links and its impact on the load bearing capacity of the manipulator is also studied. Serial manipulators on top of mobile robots are used in nuclear power plants to replace spent fuel rod. The serial manipulators have lesser load bearing capacity than hybrid manipulators. By, using a hybrid manipulator, the load bearing capacity is improved.

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