A novel backdrivable 3-[R(RR-RRR)SR] kinematically redundant (6+3)-degree-of-freedom (DOF) spatial hybrid parallel robot with revolute actuators is proposed for low-impedance physical human–robot interaction. The kinematic model is developed based on the constraint conditions of the robot. It is shown that the type II (parallel) singularities can be completely avoided, thereby yielding a very large translational and orientational workspace. A workspace analysis is presented in order to demonstrate the capabilities of the robot. Mechanisms are then introduced to use the redundant DOF of the robot to operate a gripper with the robot actuators, which are mounted on or close to the base, thus reducing the inertia of the moving parts. The architecture of the robot makes it possible to use direct drive motors, thereby making the robot easily backdrivable and allowing the use of a very simple and effective controller. A prototype of the robot is then designed and built and the large workspace of the robot as well as the effortless physical human–robot interaction are demonstrated. The controller of the robot is then described, including a position control mode and a control mode for physical interaction, which does not require the use of a force/torque sensor or joint torque sensors. Because of its backdrivability and low moving inertia, the robot is particularly well-suited for physical human–robot interaction, as demonstrated in the accompanying videos.

A novel 3-[R(RR-RRR)SR] kinematically redundant 6+3-degree-of-freedom (dof)spatial hybrid parallel robot with revolute actuators is proposed. The kinematic model is developed based on the constraint conditions of the robot. It is shown that the type II (parallel) singularities can be completely avoided, thereby greatly extending the orientational workspace. Mechanisms are then introduced to use the redundant degrees of freedom of the robot to operate a gripper with the robot actuators, which are mounted on or close to the base. A CAD model of the robot is shown and a computer animation is provided to demonstrate the resulting architecture, which has full 6-dof capabilities and a large orientational workspace.