%0 Journal Article
	%A H. Mohammadipanah and  H. Zohoor
	%D 2009
	%J International Journal of Mechanical and Mechatronics Engineering
	%B World Academy of Science, Engineering and Technology
	%I Open Science Index 34, 2009
	%T Design and Analysis of a Novel 8-DOF Hybrid Manipulator
	%U https://publications.waset.org/pdf/658
	%V 34
	%X 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.
	%P 1158 - 1164