System Hybridization for Parallel Mechanism

Improving the overall performance of parallel mechanism is the bridge to connect the academia and industry for the great development and real-world application of parallel mechanisms. For the past research, scholars put more emphasis on optimizing the performance of parallel mechanisms in different aspects, e.g. dimensional optimization, error calibration, trajectory planning. This research, a methodology which is called as System Hybridization is proposed to manage the performance of parallel mechanism in a higher level. A case study of a four degrees-of-freedom (DOF) parallel manipulator is proposed as the case study to well explain the proposed paradigm in the way of Mechanism Hybridization and Actuation Hybridization.