Modelling and Workspace Analysis of Parallel-Serial Hybrid Manipulator

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.