This paper presents the design of a reconfigurable 3-DoF parallel kinematics manipulator. The main feature of the device is the ability to change the mobility of its moving platform from pure translation to pure rotation. The manipulator kinematics is conceived so that, when a particular configuration of the manipulator is reached, the transition between the two working modes is possible by changing the configuration of a metamorphic universal joint, which is used to connect the legs of the manipulator with the moving platform. The mechanical design of the joint, which is in fact a lockable spherical joint, is illustrated. With the joint integrated into the robot architecture, an instantaneous overconstrained kinematics is exploited to manage the phase of reconfiguration of the whole mechatronic device. A kineto-static analysis provides information about the influence of geometric parameters on its functional design. The manipulator shows simple kinematics and statics models, as well as good kinematic and static performances. Eventually, the versatility of the manipulator is shown by proposing some advanced manufacturing applications in which it could find use.

Incorporating collaborative applications constitutes a challenging and increasingly intricate objective within the context of small and medium-sized enterprises (SMEs). This challenge stems from the shortage of highly specialized personnel in these types of companies when it comes to adopting cutting-edge technologies. The lack of innovation in production processes, however, increases the risk that SMEs will not be able to adapt to rapid changes in the market and the growing needs of consumers, who today are evolving at an unprecedented pace. The importance of adopting collaborative applications can be found in their capacity to harmonize human adaptability with the precision of robotic technology. This synergy contributes to the establishment of a safer work environment while guaranteeing effective and efficient performance. These features not only lead to improved production line performance compared to traditional manual or stationary operations, but also highlight new perspectives in the design, production, and customization of new products. This, in turn, helps companies strengthen their competitiveness in the global market. In this scenario, the primary challenge centers around effectively putting these solutions into practice. Our research aims to highlight how significant benefits can be achieved, both in terms of performance improvements and economically, through the analysis of a simple yet illuminating case study.

This paper presents the kinematic characterization of a 3-Cylindrical-Prismatic-Universal (3-CPU) parallel manipulator designed for motions of pure rotation. The machine has been conceived at the Polytechnic University of Marche, and recent studies have shown that its kinematic architecture can be exploited for the realization of reconfigurable machines with different kinds of motions (pure rotational, pure translational, and planar motions among others). The 3-CPU concept has been subject to further investigations for a deeper understanding of this peculiar behavior. After a brief introduction to these concepts, the paper faces the position and the differential kinematics of the 3-CPU spherical manipulator aiming at identifying workspace boundaries and its kinematic manipulability.