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Hybrid serial-parallel link manipulators combine the advantages and eliminate disadvantages of their ancestors the pure parallel or serial kinematics manipulators. The particular type of hybrid machine shown in this paper consists of two planar three degrees-of-freedom manipulators assembled together in a special configuration. This paper developed the kinematic analysis of this mechanism, namely...
In this study closed-form solutions to the forward kinematic problems are obtained for a particular type of six degree-of-freedom parallel manipulator called 6-3 Linapod. The 6-3 Linapod parallel manipulators have a 6-3 PSS (or PUS) structure, and forward kinematic solutions are obtained by using the solution procedure for 6-3 SPS (or UPS) manipulators. In this procedure, a 6-3 Linapod is first transformed...
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