Free singularity path planning of hybrid parallel robot

Abstract

This paper presents a singularity-free path planning approach for a hybrid parallel robot. The hybrid
\nrobot is composed of two well-known parallel robots, a hexapod and a tripod, that are serially
\nconnected. In this paper a methodology is developed to avoid singularity configurations of the hybrid
\nparallel robot. Nominal polynomial paths are used for motion of end effector, and the strokes of each
\nactuator is calculated by using the developed inverse kinematic. A MATLAB program has been
\ndeveloped to generate the designed paths, and several poses have been tested in a CAD model of the
\nhybrid parallel robot to validate the feasibility of the path planning approach.