@article{(Open Science Index):https://publications.waset.org/pdf/658, title = {Design and Analysis of a Novel 8-DOF Hybrid Manipulator}, author = {H. Mohammadipanah and H. Zohoor}, country = {}, institution = {}, abstract = {This paper presents kinematic and dynamic analysis of a novel 8-DOF hybrid robot manipulator. The hybrid robot manipulator under consideration consists of a parallel robot which is followed by a serial mechanism. The parallel mechanism has three translational DOF, and the serial mechanism has five DOF so that the overall degree of freedom is eight. The introduced manipulator has a wide workspace and a high capability to reduce the actuating energy. The inverse and forward kinematic solutions are described in closed form. The theoretical results are verified by a numerical example. Inverse dynamic analysis of the robot is presented by utilizing the Iterative Newton-Euler and Lagrange dynamic formulation methods. Finally, for performing a multi-step arc welding process, results have indicated that the introduced manipulator is highly capable of reducing the actuating energy.}, journal = {International Journal of Mechanical and Mechatronics Engineering}, volume = {3}, number = {10}, year = {2009}, pages = {1158 - 1164}, ee = {https://publications.waset.org/pdf/658}, url = {https://publications.waset.org/vol/34}, bibsource = {https://publications.waset.org/}, issn = {eISSN: 1307-6892}, publisher = {World Academy of Science, Engineering and Technology}, index = {Open Science Index 34, 2009}, }