Free singularity path planning of hybrid parallel robot

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