Hybrid Serial-Parallel Linkage Based six degrees of freedom Advanced robotic manipulator

Abstract

There is a hybrid robotic manipulator that can move items available. A base with a waist mounted on it and set up to spin on the base makes up the hybrid manipulator. A pair of arms positioned on the waist is another feature of the hybrid manipulator. Each arm consists of an upper arm, a forearm connected in series to the upper arm at the elbow, and a wrist designed to join the two arms at their distal ends using two connecting parts. The wrist also has an end-effector installed on it that can grab the object and move it to the correct position. A hybrid manipulator is created by combining serial and parallel manipulator systems in a beneficial way. It combines the beneficial performance traits of a parallel manipulator and a serial manipulator. A 3 DOF symmetric planar manipulator serves as the foundation of the hybrid manipulator under research, which was then put over a 3 DOF serial manipulator with the necessary end effector.