Demand for more versatile assembly and handling systems to facilitate customised production is gaining in importance. A new handling principle has been developed as a cost-effective approach to adapt to component-dependent tasks. It is based upon the gripping and movement of objects by multiple arms within a parallel kinematic structure. This structure combines the advantages of a system of co-operating robots with a simplified drive concept, in which the number of drives used is sharply reduced. On this basis, a modular assembly platform is being developed which, in addition to the kinematic units, also facilitates the integration of measurement, testing and joining modules. The modular concept also creates the conditions for a versatile, demand-driven layout of multiple kinematic units. This facilitates not only cooperative handling of large components using several gripping points, but also the transfer of objects handled between the individual units. These features of adaptivity are the basis for self-optimisation, which then can be implemented within a suitable control system.