Skip to main content

Kinematic analysis and multi-objective optimization of a new reconfigurable parallel mechanism with high stiffness

  • Guanyu Huang (a1), Sheng Guo (a1), Dan Zhang (a1), Haibo Qu (a1) and Hongyan Tang (a1)...

This paper presents a novel reconfigurable parallel mechanism, which can serve as a machine tool. The proposed parallel mechanism can change its structure parameters by driving a bevel gear system fixed in the base platform. First, the forward and inverse kinematics of the proposed mechanism are investigated. Second, the reachable workspace and Jacobian matrix are conducted. Based on the Jacobian matrix, the stiffness model and dexterity of the end effector are developed in detail. Finally, a multi-objective optimization is performed by using the Genetic Algorithm, and the workspace and global performance indexes of stiffness as well as the dexterity are considered as the performance indices to improve the performance of the reconfigurable parallel mechanism. Finally, Pareto frontier figure and several tables are provided to illustrate the results of the optimization. The results showed the proposed method has improved the performance of the reconfigurable machine tool in terms of its stiffness and dexterity.

Corresponding author
*Corresponding author. E-mail:
Hide All
1. Koren Y., Heisel U., Jovane F., Moriwaki T., Pritschow G., Ulsoy G. and Van Brussel H., “Reconfigurable Manufacturing Systems,” CIRP Ann. - Manuf. Technol. 48 (2), 527540 (1999).
2. Plitea N., Lese D., Pisla D. and Vaida C., “Structural design and kinematics of a new parallel reconfigurable robot,” Robot. Comput. Integr. Manuf. 29 (1), 219235 (2013).
3. Moosavian A. and Xi F. J., “Design and analysis of reconfigurable parallel robots with enhanced stiffness,” Mech. Mach. Theory 77 (3), 92110 (2014).
4. Coppola G., Zhang D. and Liu K., “A 6-DOF reconfigurable hybrid parallel manipulator,” Robot. Cim-Int. Manuf. 30 (2), 99106 (2014).
5. Guo S., Ye W., Qu H., Zhang D. and Fang Y., “A serial of novel four degrees of freedom parallel mechanisms with large rotational workspace,” Robotica 34 (04), 764776 (2016).
6. Kong X. and Gosselin C. M., “Type synthesis of 3-DOF translational parallel manipulators based on screw theory,” J. Mech. Des. 126 (1), 8392 (2004).
7. Kong X., “Reconfiguration analysis of a 3-DOF parallel mechanism using Euler parameter quaternions and algebraic geometry method,” Mech. Mach. Theory 74 (12), 188201 (2014).
8. Kong X., “Type synthesis of single-loop overconstrained 6R spatial mechanisms for circular translation,” J. Mech. Robot. 6 (4), 18 (2014).
9. Carbonari L., Callegari M., Palmieri G. and Palpacelli M. C., “A new class of reconfigurable parallel kinematic machines,” Mech. Mach. Theory 79 (0), 173183 (2014).
10. Coppola G., Zhang D., Liu K. and Gao Z., “Design of parallel mechanisms for flexible manufacturing with reconfigurable dynamics,” J. Mech. Des. 135 (7), 110 (2013).
11. Ye W., Fang Y., Zhang K. and Guo S., “A new family of reconfigurable parallel mechanisms with diamond kinematotropic chain,” Mech. Mach. Theory 74 (12), 19 (2014).
12. Azulay H., Mahmoodi M., Zhao R., Mills J. K. and Benhabib B., “Comparative analysis of a new 3×PPRS parallel kinematic mechanism,” Robot. Comput. Integr. Manuf. 4 (30), 369378 (2013).
13. Zhang X. and Zhang X., “A comparative study of planar 3-RRR and 4-RRR mechanisms with joint clearances,” Robot. Cim-Int. Manuf. 40, 2433 (2016).
14. Plitea N., Szilaghyi A. and Pisla D., “Kinematic analysis of a new 5-DOF modular parallel robot for brachytherapy,” Robot. Cim-Int. Manuf. 31 (0), 7080 (2015).
15. Rezaei A. and Akbarzadeh A., “Study on Jacobian, singularity and kinematics sensitivity of the FUM 3-PSP parallel manipulator,” Mech. Mach. Theory 86 (0), 211234 (2015).
16. Carbonari L., Callegari M., Palmieri G. and Palpacelli M. C., “A new class of reconfigurable parallel kinematic machines,” Mech. Mach. Theory 79 (0), 173183 (2014).
17. Srivatsan R. A. and Bandyopadhyay S., “On the position kinematic analysis of MaPaMan: A reconfigurable three-degrees-of-freedom spatial parallel manipulator,” Mech. Mach. Theory 62, 150165 (2013).
18. Gan D., Dai J. S., Dias J. and Seneviratne L., “Reconfigurability and unified kinematics modeling of a 3rTPS metamorphic parallel mechanism with perpendicular constraint screws,” Robot. Cim-Int. Manuf. 29 (4), 121128 (2013).
19. Liu X., Li J. and Zhou Y., “Kinematic optimal design of a 2-degree-of-freedom 3-parallelogram planar parallel manipulator,” Mech. Mach. Theory 87 (0), 117 (2015).
20. Zhang D., Wang L., Gao Z. and Su X., “On performance enhancement of parallel kinematic machine,” J. Intell. Manuf. 24 (2), 267276 (2013).
21. Xie F. G., Liu X. J. and Wang J. S., “Performance evaluation of redundant parallel manipulators assimilating motion/force transmissibility,” Int. J. Adv. Robot. Syst. 8 (5), 113124 (2011).
22. Li M., Huang T., Mei J., Zhao X., Chetwynd D. G. and Hu S. J., “Dynamic formulation and performance comparison of the 3-DOF modules of two reconfigurable PKM-the tricept and the TriVariant,” J. Mech. Des. 127 (6), 11291136 (2005).
23. Fugui Xie X. L. A. C., “Design of a novel 3-DoF parallel kinematic mechanism: Type synthesis and kinematic optimization,” Robotica 33 (3), 622637 (2014).
24. Gao Z., Zhang D., Hu X. and Ge Y., “Design, analysis, and stiffness optimization of a three degree of freedom parallel manipulator,” Robotica 28 (03), 349357 (2010).
25. Liu X. and Wang J., “A new methodology for optimal kinematic design of parallel mechanisms,” Mech. Mach. Theory 42 (9), 12101224 (2007).
26. Chi Z. and Zhang D., “Stiffness optimization of a novel reconfigurable parallel kinematic manipulator,” Robotica 30 (03), 433447 (2012).
27. Chi Z., Zhang D., Xia L. and Gao Z., “Multi-objective optimization of stiffness and workspace for a parallel kinematic machine,” Int. J. Mech. Mater. Des. 9 (3), 281293 (2013).
28. Wang L., Xi F., Zhang D. and Verner M., “Design optimization and remote manipulation of a tripod,” Int. J. Comput. Integ. M 18 (1), 8595 (2005).
29. Srivatsan R. A. and Bandyopadhyay S., Determination of the Safe Working Zone of a Parallel Manipulator (Springer, Netherlands, 2014).
30. Yang Y. and O'Brien J. F., “A Geometric Approach for the Design of Singularity-Free Parallel Robots,” IEEE International Conference on Robotics & Automation (2009). Kobe, pp. 1801–1806.
31. Chablat D., Wenger P.. Moveability and Collision Analysis for Fully-Parallel Manipulators.RoManSy, Jul 1998, Iftomm, pp.1–8, 1998.
32. Gao Z. and Zhang D., “Design, analysis and fabrication of a multidimensional acceleration sensor based on fully decoupled compliant parallel mechanism,” Sensors Actuators A: Physical 163 (1), 418427 (2010).
33. Guo J., Zhao L., Dong L. and Sheng Z., “The analysis on the processing dexterity of a 3-TPT parallel machine tool,” Procedia EngineeringCEIS 2011 15, 298302 (2011).
34. Gao Z. and Zhang D., “Performance analysis, mapping, and multiobjective optimization of a hybrid robotic machine tool,” IEEE T. Ind. Electron. 62 (1), 423433 (2015).
Recommend this journal

Email your librarian or administrator to recommend adding this journal to your organisation's collection.

  • ISSN: 0263-5747
  • EISSN: 1469-8668
  • URL: /core/journals/robotica
Please enter your name
Please enter a valid email address
Who would you like to send this to? *


Type Description Title
Supplementary Materials

Huang supplementary material

 PDF (1.1 MB)
1.1 MB


Full text views

Total number of HTML views: 1
Total number of PDF views: 108 *
Loading metrics...

Abstract views

Total abstract views: 404 *
Loading metrics...

* Views captured on Cambridge Core between 30th May 2017 - 22nd November 2017. This data will be updated every 24 hours.