was the second one an animation series?
No, it is an American sitcom
Sibs
Sibs is an American sitcom broadcast by ABC from September 17, 1991 until May 6, 1992. 
who dubbed for homer simpson? Dan Castellaneta what other works has he done apart form it? "Futurama", "Sibs" and "Darkwing Duck" among many. who are some of the characters in first one? Philip J. Fry, Turanga Leela, and robot Bender Bending Rodriguez.
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Sibs [SEP] Introduction
Sibs is an American sitcom broadcast by ABC from September 17, 1991 until May 6, 1992. The series chronicled the relationship of three sisters, and the support the youngest two especially needed from their eldest married sister. "Sibs" was created by Heide Perlman and executive produced by Perlman, James L. Brooks and Sam Simon, all of whom had been showrunners of Fox's "The Tracey Ullman Show". The series was backed by Brooks' Gracie Films company and Columbia Pictures Television.