Abstarct: In this thesis, a 6-DOF hybrid manipulator that is derived from the combination of a 3-DOF spherical parallel manipulator with a delta parallel robot has been studied. The advantage of this combination is that the location equations are independent of the spatial orientation equations so that the robot can be moved to any location from the Delta robot workspace without any limitations, with any orientation that is available through a spherical parallel robot. Therefore, the kinematic and dynamical models of these two parallel robots are extracted independently and ultimately combined to work as an integrated platform. The dynamical model of the system is extracted using Lagrange equations of the first kind and a mechanical model of the robot is implemented in Simscape environment of MATLAB software. Then, the accuracy of these two models is checked and shown to be perfectly consistent. The transitional and rotational workspace for the end-effector of the hybrid parallel robot have also been calculated using robot kinematic relations and by the help of numerical methods. Additionally, the robot inverse kinematics has been used to implement an adaptive neuro fuzzy inference system (ANFIS) to predict kinematic responses with high accuracy. Eventually, the hybrid robot is controlled with the help of a first-order sliding mode controller in the presence of disturbances and indeterminacy to traverse a specific path with specific orientation.