This paper presents the analysis and design of a spatial five-degree-of-freedom hybrid manipulator to be mounted on a submarine. The main concern of this new design is to provide a cheaper alternative to the six-degree-of-freedom serial manipulator currently used. The architecture is chosen from several hybrid architectures using simplicity and stiffness as the principal selection criteria. The direct and inverse kinematics are then developed based on a general form of the hybrid architecture, the velocity equations are obtained and the singularity loci are determined. Thereafter, the architecture parameters of the manipulator are optimized in order to provide optimum workspace. Finally, a specific architecture that uses the optimum parameters is provided and a workspace without singularities is presented.

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