Abstract Hybrid manipulators formed by one 2R1T parallel manipulator (PM) and one RR serial manipulator (SM) have been widely studied. However, the previous researches only focused on the PM part. The basic terminal constraint/mobility and kinematics issues of the integrated hybrid manipulators have been ignored and thus should be reconsidered. The paper studies the basic motion and constraint issues of the integrated hybrid manipulators by using the Exechon hybrid manipulator as a case. First, using Grassmann–Cayley algebra(GCA), a method for deriving the terminal constraint of the 5-DOF hybrid manipulator is proposed and the terminal DOF property is solved. Second, the terminal position and orientation coupling relation in the hybrid manipulator is revealed based on the elimination method and the inverse displacement is solved. Third, the 6 × 6 form full Jacobian containing all actuation and constraint information of the manipulator is derived. The established models in this paper are applicable for the 5-DOF hybrid manipulators.

中文翻译：

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重新考虑由一个 2R1T PM 和一个 RR SM 组成的 5-DOF 混合机械手的终端约束/移动性和运动学

摘要 由一个2R1T并联机械手（PM）和一个RR串联机械手（SM）组成的混合机械手已被广泛研究。然而，以前的研究只集中在 PM 部分。集成混合机械手的基本终端约束/移动性和运动学问题已被忽略，因此应重新考虑。以Exechon混合机械手为例，研究了集成混合机械手的基本运动和约束问题。首先，利用Grassmann-Cayley代数(GCA)，提出了一种推导五自由度混合机械臂终端约束的方法，并求解了终端自由度特性。其次，基于消元法揭示了混合机械手中的终端位置和方向耦合关系，并求解了逆位移。第三，推导出包含机械臂所有驱动和约束信息的 6 × 6 形式的全雅可比矩阵。本文建立的模型适用于五自由度混合机械手。