• Introduces a novel forward kinematics analysis method using Conformal Geometric Algebra (CGA) for serial-parallel hybrid mechanisms, enabling complete analytical solutions.
• Demonstrates the method on a (2-SPR+RPS)+(3-SPR) mechanism, yielding 15 and 4 mathematical solutions for the upper and lower mechanisms, respectively, with a unique physically valid solution after filtering.
• Validates the analytical results through SolidWorks simulations, confirming the correctness and reliability of the proposed approach.
• Provides a robust theoretical foundation for high-precision applications of hybrid mechanisms in robotics and mechanical design.