Inverse kinematics solution algorithm for continuous/binary hybrid manipulator

This paper proposed an inverse kinematics solution algorithm for “hybrid manipulator”, which serially connects a binary manipulator with a Gough-Stewart type parallel manipulator. Both structures are known as high rigidity and stability for static loads. The binary manipulator has wide workspace, however, its workspace is discrete. On the other hand, the parallel manipulator has high accuracy for continuous positioning, however, its workspace is narrow. The hybrid manipulator incorporates both advantages and can realize wide workspace and precise positioning. The proposed algorithm exploits an ellipsoidal approximation of the manipulator´s workspace. Outer and inner approximations are used for bounding the search tree and discontinuation after finding feasible solution, respectively. Some numerical experiments will show the validity of the proposed algorithm.