This article proposes a new reconfigurable parallel mechanism using a spatial overconstrained platform. This proposed mechanism can be used as a machine tool. The mobility is analyzed by Screw Theory. The inverse kinematic model is established by applying the closed-loop equation. Next, the dynamic model of the presented mechanism is established by Lagrange formulation. To control the presented mechanism, some controllers have been used. Based on this dynamic model, the fuzzy-proportion integration differentiation (PID) controller is designed to track the trajectory of the end effector. For each limb, a sliding mode controller is applied to track the position and velocity of the slider. Finally, some simulations using ADAMS and MATLAB are proposed to verify the effectiveness and stability of these controllers.

中文翻译：

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一种新型可重构并联机构的分析与控制

本文提出了一种使用空间过约束平台的新的可重构并行机制。这种建议的机构可以用作机床。流动性通过螺旋理论分析。应用闭环方程建立逆运动学模型。接下来，通过拉格朗日公式建立所提出机制的动力学模型。为了控制所呈现的机制，已经使用了一些控制器。基于此动态模型，设计了模糊比例积分微分 (PID) 控制器来跟踪末端执行器的轨迹。对于每个肢体，应用滑动模式控制器来跟踪滑块的位置和速度。最后，提出了一些使用 ADAMS 和 MATLAB 的仿真来验证这些控制器的有效性和稳定性。