A type synthesis method for hybrid robot structures

In this paper a new methodology to synthesize hybrid robots as a whole structure is presented. The method is based on Assur groups as the simplest basic blocks to build kinematic chains. Criterions like symmetry and low inertia are considered in the design process. The method results in hybrid robots whose structures are as simple as possible. The closed chains of some of them are known parallel structures, however one of them is a new hybrid structure.