  In the modern days, manipulators are found in the automated assembly lines of
industries that produce products in masses. These manipulators can be used only
in one configuration, that is either serial or parallel. In this paper, a new
module which has two degrees of freedom is introduced. By connecting the two
and three modules in series, 4 and 6 DoF hybrid manipulators can be formed
respectively. By erecting 3 modules in parallel and with some minor
modifications, a 6 DoF parallel manipulator can be formed. Hence the
manipulator is reconfigurable and can be used as hybrid or parallel manipulator
by disassembling and assembling. The topology design, forward and inverse
position analysis has been done for the two hybrid configurations and the
parallel configuration. This manipulator can be used in industries where
flexible manufacturing system is to be deployed. The three configurations of
the parallel manipulator has been experimentally demonstrated using a graphical
user interface (GUI) control through a computer.
