Kinematic analysis of 3-RSR&4R hybrid mechanism

Abstract A hybrid mechanism features serial mechanism flexibility, a large workspace, parallel mechanism stabilization, and high carrying capacity, combining the advantages of series and parallel mechanisms. However, the positive kinematic analysis is more complex. Proposing a new hybrid mechanism 3-RSR&4R begins by describing the institutional characteristics. Second, the positive kinematics are analyzed according to the structural features and modeling positive solutions. Finally, it is verified by numerical arithmetic examples, comparing and analyzing the theoretical results with MATLAB simulation results. The results show that the constructed positive kinematic model is correct.