IJAT Vol.9 No.6 pp. 765-774
doi: 10.20965/ijat.2015.p0765


Kinematics Analysis of a Novel 5-DOF Hybrid Manipulator

Wanjin Guo*,†, Ruifeng Li*, Chuqing Cao**,***, and Yunfeng Gao*

*State Key Laboratory of Robotics and System, Harbin Institute of Technology
92 West Dazhi Street, Nan Gang District, Harbin 150001, China

**School of Mechanical Engineering, Nanjing University of Science and Technology
Xiaolingwei 200, Nanjing 210094, China

***Wuhu HIT Robot Technology Research Institute Co., TLD.
E, Electronic Industrial Park, JiuJiang District, WuHu 241007, China
†Corresponding author

June 2, 2015
September 9, 2015
November 5, 2015
hybrid manipulator, kinematics, inverse kinematics, reachable workspace
Application of hybrid robotics is a continuously developing field, as hybrid manipulators have demonstrated that they can combine the benefits of serial structures and parallel mechanisms. In this paper, a novel 5-degree-of-freedom hybrid manipulator is designed. The structure of this manipulator and its kinematics analysis are presented. An innovative closed-form solution was proposed to address the inverse kinematics problem. Additionally, the validity of the closed-form solution was verified via co-simulation using MATLAB and ADAMS. Finally, the reachable workspace of this manipulator was obtained for further optimizing the structure and motion control.
Cite this article as:
W. Guo, R. Li, C. Cao, and Y. Gao, “Kinematics Analysis of a Novel 5-DOF Hybrid Manipulator,” Int. J. Automation Technol., Vol.9 No.6, pp. 765-774, 2015.
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