Review of Serial, Parallel, and Hybrid Manipulators: Functional Capabilities and Limitations

Abstract

Manipulators are essential devices widely used in industry, medicine, mechanical engineering, and robotics. In modern production processes, automation is a key factor in increasing efficiency, reducing human labor, and minimizing costs. However, despite the rapid advancement of technology, selecting a suitable manipulator remains a complex task. The choice of a manipulator depends on various factors, including structural rigidity, the number of degrees of freedom, load capacity, and working area. The main objective of this study is to compare the structural differences between serial, parallel, and hybrid manipulators, analyze their functional capabilities and limitations, and systematize the selection criteria. A systematic review method was applied, and data were collected from scientific literature, peer-reviewed articles, and manufacturers' technical documentation. Using Grübler’s formula, the degrees of freedom of the manipulators were calculated, and their motion capabilities and kinematic parameters were evaluated. This research contributes to improving the kinematic characteristics of manipulators, enhancing their adaptability to real production conditions, and systematizing selection methods. The practical significance of the study lies in developing recommendations aimed at optimizing and selecting efficient manipulators for applications in industry, medicine, and robotics.