Workspace Calculation of the 2(6-UPS) Hybrid Manipulator

This paper presents an algorithm for computing the workspace of the hybrid serial-parallel manipulator. In this method, the inverse kinematics problem and interval analysis are applied to determine the constant-orientation workspace of the 6-UPS parallel manipulator. Then, the workspace of the 2(6-UPS) hybrid manipulator is calculated by combining this approach with the discretization method. The results show that the development of this method provides fast and accurate results for calculating the workspace of the hybrid serial-parallel manipulator.