Performance analysis of a reconfigurable redundant parallel manipulator

This work discusses the kinetostatic performances f a new reconfigurable parallel-serial hybrid manipulator with edundant actuators carrying a serial wrist with 3 degrees of freedom (dof) The parallel part can be easily reconfigured with simple disassembly and reassembly procedure to obtain different onfigurations that can be classified in the following groups: 3 dof, dof and 3 dof with redundant actuation. The paper focuses on he kinematics of the parallel structure solving the direct and the verse kinematics, analyzing the singularities and evaluating some inetostatic performance indices.