According to the manipulation space and kinematic characteristic requirements of surgery robot, a new hybrid robot structure with redundant 8-DOF was introduced. It was composed of SCARA(PRR) serial part and a 2-DOF parallel rotation mechanism. Mathematical models of forward and inverse solutions were established to resolve the anti-kinematic analytical solution problem and the kinematic equations was obtained. Meanwhile, the workspace cloud regional distribution was worked out by the Monte Carlo Method to derive its surgical operation workspace enveloped by random points. Theoretical analysis and simulation results proved that the robot possesses an better kinematic characteristics and can meet the request of practical operation workspace.
