الفهرس 
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Abstract
The development of serial or parallel manipulator robots is constantly increasing
due to the need for faster productivity and higher accuracy. So, the researcher
turned to combine both mechanisms by sharing the advantage from serial to parallel
or vice versa. This thesis proposes a new configuration design for a serial-parallel
hybrid manipulator installed on it an adaptive gripper to help the new hybrid
manipulator to grasp objects with different sizes or dimensions. The hybrid
manipulator is composed of an industrial robotic arm KUKA KR6 R900 with sixdegree-of-freedom (6-DOF) which is divided into three joints for translation
(𝑥, 𝑦, 𝑧) and the other three joints for orientation (𝛼, 𝛽 , 𝛾) of end-effector and a
parallel manipulator mechanism consists of 3-DOF. That parallel mechanism
consists of three identical limbs and each limb is composed of revolute-revolutespherical joints (3-RRS), which can provide one translation movement in the 𝑧-axis
and two movements for orientations in the 𝑥 and 𝑦 axis. This new hybrid will help
the serial manipulator increase movement flexibility and expand the workspace for
serial and parallel manipulator robots. A complete conceptual design for the new
robot configuration was proposed. Then, a comparison between the mathematical
outcomes and the corresponding simulation of different postures of the hybrid
manipulator was discussed. Also, a simulation model is obtained with a complete
workspace analysis.
Furthermore, the path selection is tested for the new hybrid manipulator, and an
experimental setup is prepared to follow the selected path. Moreover, an adaptive
gripper is designed and implemented to attach to the new hybrid manipulator as an
end-effector. The results show that the maximum induced error between the
numerical and simulation models was less than 1%. Finally, the newly presented
robot configuration expanded the workspace of both manipulators, and the selected
path successfully matched with the experimental test. At the same time, the
adaptive gripper, after testing, shows that it can successfully grasp many objects of various shapes and sizes. Also, it can grasp gently without harming or
damaging the object.