Design and analysis of novel kinematically redundant reconfigurable generalized parallel manipulators

A conventional parallel manipulator (PM) generally employs independent serial kinematic chains to support one rigid moving platform. Compared with PMs, generalized parallel manipulators (GPMs) with configurable platforms can improve the kinematic performance and functionality. This paper highlights the idea of designing and analyzing novel GPMs with configurable platforms. Firstly, the type synthesis of GPMs is performed. Then a novel class of reconfigurable GPMs with remotely operated grippers is constructed. Secondly, the motion-screw system and the reconfiguration property of the manipulator are analyzed based on screw theory. Moreover, the position analysis of the GPM is carried out to evaluate the workspace and reveal the motion characteristics. Furthermore, the numerical examples and simulation results are obtained to demonstrate the presented methodology. The feasible arrangement of the actuated joints is studied and the potential application of the GPM is discussed. Finally, a prototype is manufactured to illustrate the advocated design philosophy and the functionality of the GPM.