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The proposed study discusses mechanism design and inverse kinematics of a novel 5-DOF parallel–serial manipulator. The parallel part of the manipulator is a 4-DOF mechanism with 2T2R motion pattern, equipped with four RRR kinematic chains and extendable platform. The fifth DOF realizes additional prismatic motion. Therefore, the proposed manipulator allows to reproduce five independent movements—three translations and two rotations (3T2R motion pattern). The inverse kinematics solution provides the relationships between the coordinates of the end-effector and five driving movements (generalized coordinates). The proposed algorithm for inverse kinematics is demonstrated by numerical example simulated in MATLAB. The example discusses spiral trajectory of the end-effector for which driving coordinates are calculated.

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Mechanism Design and Inverse Kinematics of a 5-DOF Hybrid (Parallel–Serial) Manipulator

  • 会议论文

  • 发表日期：

    2026年

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  • Alexey Novikov,
  • Pavel Laryushkin,
  • Alexey Fomin

摘要

The proposed study discusses mechanism design and inverse kinematics of a novel 5-DOF parallel–serial manipulator. The parallel part of the manipulator is a 4-DOF mechanism with 2T2R motion pattern, equipped with four RRR kinematic chains and extendable platform. The fifth DOF realizes additional prismatic motion. Therefore, the proposed manipulator allows to reproduce five independent movements—three translations and two rotations (3T2R motion pattern). The inverse kinematics solution provides the relationships between the coordinates of the end-effector and five driving movements (generalized coordinates). The proposed algorithm for inverse kinematics is demonstrated by numerical example simulated in MATLAB. The example discusses spiral trajectory of the end-effector for which driving coordinates are calculated.