Structure and mobility analysis of a 6-DoF hybrid manipulator via screw theory

This paper presents a synthesis and analysis of a new design of a 6-DoF hybrid manipulator. The proposed scheme uses planar 2-DoF joints as actuated elements in the kinematic chains. Using screw theory, we performed a mobility analysis, determined analytical formulas for twists and wrenches, and verified motion controllability through the analysis of reciprocal wrenches. The results of this work can be used for further kinematic and static analysis, as well as for singularity analysis of the manipulator.
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