Abstract A Conventional Parallel Manipulator (CPM) usually uses a rigid moving platform as the end-effector to connect serial legs. Since serial legs independently support the platform, kinematic joints are embedded into the rigid moving platform. However, the moving platforms of Generalized Parallel Manipulators (GPMs) are not limited to rigid bodies. The introduction of configurable platforms with integrated end-effectors allows for providing a multipoint connection with the environment. As a result, the functionality of parallel manipulators can be further extended. Resulting from the property of the platform, a significant challenge of connecting moving platforms with serial limbs is posed. This paper puts forward a systematic method for synthesizing parallel manipulators with configurable platforms. To realize the cooperation of the integrated end-effectors, the multi-drive hybrid limbs are designed base on the screw theory. According to the constraint synthesis method, a novel class of parallel manipulators with configurable platforms is constructed. Then the examples with different motion patterns are offered to corroborate the effectiveness of the proposed method. At last, driving schemes and the potential applications of the derived manipulators are discussed.

中文翻译：

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具有可配置移动平台的新型广义平行机械手系列

摘要 传统的并行机械手（CPM）通常使用刚性移动平台作为末端执行器来连接串行腿。由于串联腿独立支撑平台，运动关节嵌入刚性移动平台。然而，广义平行机械手（GPM）的移动平台不限于刚体。带有集成末端执行器的可配置平台的引入允许提供与环境的多点连接。因此，可以进一步扩展并行机械手的功能。由于平台的特性，将移动平台与串联肢体连接起来是一项重大挑战。本文提出了一种系统的方法来合成具有可配置平台的并行机械手。为了实现集成末端执行器的协作，基于螺旋理论设计了多驱动混合肢体。根据约束综合方法，构造了一类具有可配置平台的新型并行机械手。然后提供具有不同运动模式的例子来证实所提出方法的有效性。最后，讨论了驱动方案和衍生机械手的潜在应用。