Kinematic Performance and Task Planning Analysis of a Parameter Reconfigurable Parallel Mechanism This paper proposed a parameter reconfigurable parallel mechanism (PRPM), which mechanical structure has been introduced. Kinematic performance and task planning analysis has been carried out. DOF of moving platform is calculated based on screw theory in the first place. Then, inverseforward kinematics, Jacobian matrix and performance indexes, which include dexterity, stiffness, workspace, singularity are analyzed. On the basis of kinematics, task planning analysis is presented. The analysis proposed a method, which is used to acquire appropriate parameters of PRPM according to a specific task. The task workspace can be fulfilled by applying suitable structural angle range of PRPM. Example case is carried out by using capsule shape workspace as task. This improves the using ratio and efficiency of the workspace of PRPM. A 3D printed prototype also has been carried out.

Kinematics, Design and Experimental Validation of a Novel Parallel Robot for TwoFingered Dexterous Manipulation Twofingered manipulation robotic systems are widely used in many application sand notably at small scales. The commonly employed solution is based on the attachment of a gripper on a robot. This paper introduces a new eight degrees of freedom (DoF) mechanism intended for twofingered dexterous manipulation. The eight DoFs are obtained via a parallel architecture moved by eight actuators that are attached to the base of the robot. The novelty lies in the use of a 2DoF configurable platform that insures two relative rotations of the gripper jaws (opening and twisting) in addition to the 6DoF Cartesian movements. The paper presents the kinematics and the design of a proofofconcept able to grasp, roll, translate and rotate objects in a single compact design. A prototype is operated to manipulate and insert a 2mm screw.