Dynamics model of redundant hybrid manipulators connected in series by three or more different parallel manipulators with linear active legs

• Construct a general redundant hybrid manipulator.
• Establish its unified recursive kinematics and dynamics formulae.
• Discover mapped relations between velocity of moving links and the input velocity.
• Transform inertial wrench of moving links into fixed coordinate system.
• Establish dynamics modeling of a novel 3SPR + 3SPR + 3RPS type manipulator.

A general redundant kinematic hybrid manipulator connected in series by three or more different parallel manipulators with linear active legs is constructed. Its kinematics and dynamics are studied systematically. First, the mapped relations between the velocities of the moving links and the input velocities are discovered; the displacement, velocity, and acceleration of the general redundant hybrid manipulator are derived. Second, the inertial wrench and gravity of all the moving links are transformed into the fixed coordinate system; a unified recursive dynamics formula of the general redundant hybrid manipulator is derived. Third, a novel 3SPR + 3SPR + 3RPS type manipulator is designed and illustrated, its kinematics and dynamics formulae are derived based on the derived unified recursive dynamics formulae of the general redundant hybrid manipulator. Finally, the kinematics and dynamic active/constrained forces of the 3SPR + 3SPR + 3RPS type manipulator are solved and verified using its simulation mechanism.

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