Abstract
Studies related to reachable workspace, inverse kinematics, and best dimensions of 3-DOF Hybrid Manipulator (HM) are presented in this paper. This mechanism possesses both serial and parallel links. A third revolute joint is added in the five-linkage structure having two actuated revolute joints. The third revolute joint is added in such a way that its axis should pass through the axes of the two actuated revolute joints. This produces a structure called a hybrid mechanism consisting of parallel and serial links. The inverse kinematics analysis is implemented for obtaining the joint positions of the HM. The reachable workspace of the manipulator is found using inverse kinematic equations, and finally, the Global Conditioning Index (GCI) is used for optimization to find the optimal dimensions of the HM. The corresponding dimensions obtained based on the optimization by considering maximum GCI as an objective gives the best dimensions that are free from singularities. Here optimization is carried using Genetic Algorithms (GAs).
Sign-in/Register to access full text options 
Free) 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a call
