## 1 Introduction
The results show that the hybrid robot can climb at various angles and pass obstacles, and the magnetic attraction ensures stable climbing. At the same time, other researchers have focused on parallel-serial hybrid mechanisms as previously designed and analyzed [19]. Further, there is a new segmental manipulator with a parallel-serial hybrid mechanism for robotized deburring of significant jet engine elements. The manipulator consists of a parallel planar platform with 3-DOF and a serial mechanical arm with 3-DOF. Additionally, closed-form symbolic solutions are obtained for forward and inverse displacement analyses. A study into a five-degree-of-freedom manipulator with a parallel-serial structure provided a solution for the direct and inverse kinematic issues and workspace analysis [20]. The proposed manipulator allows for the accomplishment of five special moves, three for translations and two for the rotations movement patterns. The findings of the kinematic analysis revealed that the solutions to both the inverse and the forward position issues may be determined analytically. A new proposed manipulator was developed to work as a subretinal insertion device in conjunction with intraoperative optical coherence tomography (OCT) [21]. A combination of two parallel mechanisms is connected in series to compose a parallel-serial robot with control of the remote center motion (RCM) for the needle (end effector). According to the assessment findings, the single control loop is operated at 15 ms, and the RCM control precision is within 1 mm. Another 5-DOF parallel/serial manipulator was presented [22], and a complete velocity and singularity analysis was derived. This hybrid system is composed of a parallel and serial mechanism similar to a tripod personified by double carriages running on opposite paths. This manipulator can successfully deliver the accomplishment of five special moves, three translations (3T), and two rotations (2R) movement patterns (3T2R) to its end effector. A novel kinematic and dynamic modeling method was obtained [23]. A new 8-DOF hybrid manipulator was introduced that acts similarly to a human arm [24; 25]. Moreover, they obtained the inverse kinematics of the system. The simulation experiment results revealed that the suggested has 32 solutions based on the identical target position, orientation matrix, and the stated redundant input variables, while the accuracy of the proposed technique for dealing with the inverse displacement was tested. On the other hand, the optimal motion planning methods for redundant manipulators were discussed and proposed to provide solutions with a variety of constraints, both linearly and nonlinearly [26; 27; 28]. This work aimed to propose and implement a hybrid manipulator robot that combines serial and parallel mechanisms with nine degrees of freedom. The hybrid robot's new configuration comprises a 6-DOF KUKA Kr6 R900 serial manipulator and a 3-RRS parallel manipulator with 3-DOF. The structure mechanism of the new SPHM is described in Section 2. Further, the kinematic model is deduced and developed to identify the new hybrid manipulator end-effector position and orientation related to the robot joint angles, as described in Section 3. The remaining paper is organized as follows: Modeling and simulation are discussed in Section 4. Workspace analysis for the SPHM is obtained in Section 5. Path planning was clarified in Section 6. The experimental setup is presented in Section 7. Finally, Section 8 presents the new conclusions and outcomes.