Modelling and analysis of a modified Dodecapod parallel manipulator

Parallel manipulator is one of the areas of research extensively studied by many researchers from past 4-5 decades. Unlike their serial counterparts, parallel manipulators exhibit higher rigidity and controllability when operating at higher speeds. These attributes lead to their application in various fields such as machine tools, simulators and positioning systems. Present work is proposing a modified reconfigurable Dodecapod parallel manipulator. 3D model of the proposed manipulator is successfully developed and kinematics analysis is carried out. Re-configurable sliders are provided to vary the workspace as required. A few illustrative examples are demonstrated for various locations of slider, showing changes in workspace. The novelty of the present manipulator overcomes the workspace limitations of the general Stewart Gough manipulator. Present modified Dodecapod parallel manipulator is capable of improving local kinematic performance