Novel design and analysis of a reconfigurable parallel manipulator using variable geometry approach

Dan Zhang, Qi Shi

Research output: Chapter in book / Conference proceedingConference article published in proceeding or bookAcademic researchpeer-review

6 Citations (Scopus)


This paper presents a novel design and analysis of a reconfigurable parallel kinematic manipulator that can be applied to a machine tool. The proposed manipulator has three Degrees of Freedom (DOFs), including the rotations of a moving platform about the x and y axes and a translation of this platform along the z axis. A reconfigurable driving mechanism is introduced into this new parallel manipulator in order to adapt the actuator vector so that the various configurations can be applied for different task. Constraint analysis is investigated, inverse kinematic problem is solved and Jacobian analysis is conducted. Finally, the dynamic simulations are performed using Adams/View to verify dynamic performance.

Original languageEnglish
Title of host publicationPractical Applications of Intelligent Systems: Proceedings of the Sixth International Conference on Intelligent Systems and Knowledge Engineering, Shanghai, China, Dec 2011 (ISKE2011)
EditorsYinglin Wang, Tianrui Li
Number of pages11
Publication statusPublished - 2011
Externally publishedYes

Publication series

NameAdvances in Intelligent and Soft Computing
ISSN (Print)1867-5662


  • Jacobian
  • Reconfigurable parallel manipulator
  • variable geometry

ASJC Scopus subject areas

  • General Computer Science


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