This paper introduces a new mechanism that will be classified as an RR-RP hybrid serial-parallel mechanism with variable topology. A mechanism with variable topology is a mechanism that can change its topology due to a change it its joints constraint geometric profile. The RR-RP is unique in that it combines the functionality of both an RR and RP serial manipulator without the need for an additional actuator, leading to a lower weight, lower cost, and more efficient mechanism. The new mechanism and its topology are presented, followed by a workspace analysis, derivation of the forward and inverse kinematics, and velocity analysis of the new mechanism.

This content is only available via PDF.
You do not currently have access to this content.