This paper presents a review of the literature related to the use of redundancy in parallel
mechanisms. Two types of redundancies are considered, namely, actuation redundancy and …

Parallel kinematic mechanisms (PKM) have received particular attention due to their higher
stiffness, increased payload capacity, and agility, when compared to their serial …

This paper presents the Bennett plano-spherical hybrid linkage and proposes a novel
metamorphic parallel mechanism consisting of this plano-spherical linkage as part of limbs …

A new approach is put forward to enhance the stiffness of parallel mechanisms by
topological reconfiguration. First, a novel 6-DOF Stewart-type parallel mechanism is …

It is a big challenge to ensure the low energy consumption and stability of the hybrid
mechanism under the dynamic load condition, and it is more obvious in the series-parallel …

The design of cleaning and maintenance (CaM) robots are generally limited by their fixed
morphologies. Contrary to the fixed robotic systems, design for reconfiguration in robots …

A reconfigurable robotic system permits multiple configurations having different
characteristics, using mostly modularized building blocks. The goal of this paper is to …

Mechanisms with multiple operation and multiple locomotion modes are applied to
implementing the different tasks and adapting to the changes in terrains as well. Based on …

This paper explores essence of geometric constraints induced reconfiguration of single-loop
kinematic chains with mobility one. Reconfigurable kinematic chains are firstly classified into …

A general redundant kinematic hybrid manipulator connected in series by three or more
different parallel manipulators with linear active legs is constructed. Its kinematics and …