TY - JFULL AU - H. Mohammadipanah and H. Zohoor PY - 2009/11/ TI - Design and Analysis of a Novel 8-DOF Hybrid Manipulator T2 - International Journal of Mechanical and Mechatronics Engineering SP - 1157 EP - 1164 VL - 3 SN - 1307-6892 UR - https://publications.waset.org/pdf/658 PU - World Academy of Science, Engineering and Technology NX - Open Science Index 34, 2009 N2 - 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. ER -