Performance Analysis, Mapping, and Multiobjective Optimization of a Hybrid Robotic Machine Tool

A serialparallel hybrid machine tool is expected to integrate the respective features of pure serial/parallel mechanism. The traditional method of hybridization is to connect $n$ $(n\geq 2)$ mechanisms bottom to head, in which at least one should be a parallel mechanism. One unique approach called Mechanism Hybridization is to embed one serial mechanism inside of a pure parallel mechanism, which greatly changes its overall performance. Based on …