Hybrid kinematics mechanisms combines the advantages of purely serial and purely parallel kinematics mechanisms. Several hybrid kinematics mechanisms have been proposed. This paper proposes a novel hybrid kinematics mechanism using planar 3PRR planar kinematics mechanism, which can be utilized for machine tool. As the common main drawback of parallel mechanism is the workspace, the proposed mechanism has been optimized by using constrained nonlinear optimization. It is shown that the optimization gives significant improvement of the workspace area and shape.

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