Analysis and control for a new reconfigurable parallel mechanism

Guanyu Huang, Dan Zhang, Hongyan Tang, Lingyu Kong, Sumian Song

Research output: Journal article publicationJournal articleAcademic researchpeer-review

10 Citations (Scopus)


This article proposes a new reconfigurable parallel mechanism using a spatial overconstrained platform. This proposed mechanism can be used as a machine tool. The mobility is analyzed by Screw Theory. The inverse kinematic model is established by applying the closed-loop equation. Next, the dynamic model of the presented mechanism is established by Lagrange formulation. To control the presented mechanism, some controllers have been used. Based on this dynamic model, the fuzzy-proportion integration differentiation (PID) controller is designed to track the trajectory of the end effector. For each limb, a sliding mode controller is applied to track the position and velocity of the slider. Finally, some simulations using ADAMS and MATLAB are proposed to verify the effectiveness and stability of these controllers.

Original languageEnglish
JournalInternational Journal of Advanced Robotic Systems
Issue number5
Publication statusPublished - 2020
Externally publishedYes


  • adaptive sliding mode control
  • dynamic model
  • fuzzy-PID controller
  • Reconfigurable parallel mechanism
  • trajectory tracking

ASJC Scopus subject areas

  • Software
  • Computer Science Applications
  • Artificial Intelligence


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