The novel synthesis of reconfigurable generalized parallel manipulators with kinematic redundancy

This paper presents an innovative method to construct reconfigurable Generalized Parallel Manipulators (GPMs) through the integration of kinematotropic single-loop linkages and configurable platforms. The approach puts forward, for the first time, the development of reconfigurable manipulators by introducing kinematic redundancy. Firstly, this study analyzes the geometric configurations of the twofold-symmetric 8-bar single-loop linkage across various working phases. Secondly, by combining the kinematotropic linkage with moving platforms in GPMs, reconfigurable manipulators with kinematic redundancy are achieved. To validate the kinematic constraints and reconfigurable characteristics of the derived mechanisms, the algebraic structure properties of Lie groups are investigated. Then, a novel class of reconfigurable GPMs with kinematic redundancy is synthesized. The ability to shape the configurations of the platforms enables the resulting manipulators to exhibit reconfigurability. Consequently, these manipulators can execute multiple motion models corresponding to different working phases of the 8-bar linkages. Finally, this research highlights the potential applications of deployable stage by using the kinematic redundancy. The idea presented in this paper explores new possibilities for the development of reconfigurable manipulators with adaptive capabilities, and extend the potential applications of GPMs.