A 6-DOF reconfigurable hybrid parallel manipulator

Gianmarc Coppola, Dan Zhang, Kefu Liu

Research output: Journal article publicationJournal articleAcademic researchpeer-review

80 Citations (Scopus)


This paper presents a case study on a reconfigurable hybrid parallel robot dubbed ReSl-Bot. It addresses the realm of reconfigurable 6-DOF parallel mechanisms, for sustainable manufacturing. It also features a self-reconfigurable architecture. A systematic analysis involving kinematics, constant orientation workspace, singularity and stiffness is developed in detail. Interesting features are discussed, revealing some unique characteristics of the studied architecture. A multi-objective optimization procedure is also carried out with weighted stiffness, dexterity and workspace volume as the performance indices.

Original languageEnglish
Pages (from-to)99-106
Number of pages8
JournalRobotics and Computer-Integrated Manufacturing
Issue number2
Publication statusPublished - 2014
Externally publishedYes


  • 6-DOF
  • Design optimization
  • Hybrid robot
  • Parallel kinematics
  • Reconfigurable parallel manipulator

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • General Mathematics
  • Computer Science Applications
  • Industrial and Manufacturing Engineering


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