Abstract of the presentation

In this presentation, the workspace and trajectory optimisation of a (6+3)-dof 3-[R(RR-RRR)SR] kinematically redundant hybrid parallel robot is investigated. The inverse kinematics of the robot can be solved analytically and the singularities are easily avoidable. A workspace analysis is provided and it shows that the orientational workspace is very large. Moreover, the redundant degrees of freedom are optimised in order to further expand the workspace. An approach is developed to determine the desired redundant joint coordinates so that a performance index can be minimised approximately when the robot is following a prescribed Cartesian trajectory.