الفهرس 
IntroductionOnly 14 pages are availabe for public view
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Abstract
Modern robot architecture includes serial and parallel robots. Serial robots have a large workspace, easy forward kinematics, and are frequently used in industry, but parallel manipulators are not. However, parallel manipulators have advantages, including stiffness, payload capacity, and precision. Parallel manipulators are used in industries that require high precision and stiffness,
such as medicine, pharmacy, and microchip assembly. The thesis aimed to develop a new modular 7 DOF hybrid manipulator. A hybrid manipulator consists of a synergistic combination of serial and parallel manipulator architectures. Nowadays, recent economic growth and increasing industrial needs robots to have multifunctional properties such as broad
applicability, precision, wide workspace, and simple robot-human interface. Workspace is studied in this investigation using MATLAB to define the limits of the mechanism. Also, trajectory planning is discussed using three different methods (Cubic polynomial, Quantic polynomial, and linear segment parabolic
blend) trajectory. After comparing the proposed trajectory methods, the LSPB
has fewer values in angular velocity, and angular acceleration profiles have (5- 31)% and (26-21.2)% receptivity compared with the Cubic trajectory Quantic trajectory method.
The circular trajectory results based on twenty-four coordinate points are used
for simulation and the experiment validation process. In addition, statistical analysis was made to evaluate the error in the resultant coordinates in X-axis and Y-axis for both simulation and experimental. The result reveals that errors
in simulation and experimental work were less than 1.8 mm in x-y directions.