In this paper, a new class of hybrid series-parallel robot manipulator is introduced. In this manipulator, the Stewart platform (six degrees of freedom parallel robot), consists of its base, and one all-revoluted three degrees of freedom serial chain robot is installed on the top. The dynamic model for this new manipulator system is derived by using an efficient recursive Newton-Euler formulation. This method is both efficient and systematic in deriving the equations of motion in the serial part of the manipulator, i.e., the open-chain mechanism, and the parallel part of the manipulator, i.e., the closed-chain mechanism in the Stewart platform. The variational-vector calculus approach, the spatial vector notation, and the cut-joint constraints are used in the formulation. The benefits and possible applications of this type of manipulator are also discussed.

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