Developing of hybrid Serial Parallel Robot with 3DOF for industrial Applications | ||
| Engineering Research Journal | ||
| Volume 184, Issue 4, September 2025, Pages 1-22 PDF (1.3 M) | ||
| Document Type: Original Article | ||
| DOI: 10.21608/erj.2025.371064.1224 | ||
| Authors | ||
| Mohab Amr El-Sherif* 1; Abdelkader Abelkaraim Ibrahim2; Mahmoud Mohamed El-Samanty1 | ||
| 1Mechanical Department, Faculty of Engineering, Benha University | ||
| 2Mechanical Engineering Department, Shoubra Faculty of Engineering , Benha University. | ||
| Abstract | ||
| The evolution of robotics has led to the development of hybrid serial-parallel robots that combine the precision and stability of parallel mechanisms with the adaptability of serial structures. This study focuses on designing and optimizing such a robot by integrating a series of joints into a two-axis parallel robot to enhance its operational range and versatility. Key objectives include optimizing arc and link lengths for improved workspace efficiency, determining suitable motor torque for effective payload management, deriving mathematical models for forward and inverse kinematics, and refining trajectory planning techniques. Advanced tools like SolidWorks for 3D modeling and MSC ADAMS for dynamic analysis are employed, with simulations used to evaluate angular velocity and motor torque. This study presents the design and simulation of a hybrid serial-parallel robot intended for precise pick-and-place operations. The research builds upon a comprehensive review of parallel robotics, through detailed 3D modeling and dynamic simulation, the system's behavior and potential capabilities are evaluated, offering insights into its suitability for high-speed industrial applications and future advancements in robotic technologies. | ||
| Keywords | ||
| Modified Two Axis Parallel Robot; Hybrid Serial Parallel Robot; Five Bar Mechanism; MSC Adams Simulation | ||
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