Type-changeable kinematic pair evolved reconfigurable parallel mechanisms

Abstract

This paper presents a type-changeable kinematic pair with variable topology. The geometry properties and topological phases of the type-changeable kinematic joint are revealed. A novel reconfigurable parallel mechanism is evolved from the type-changeable kinematic pair according to geometric conditions of assemblages for parallel mechanisms. The platform of the reconfigurable parallel mechanism is capable of implementing various functions accompanying to the phase change of the integrated type-changeable kinematic pair. The platform has 6 DOFs in the source phase and can change its mobility to 5, 4 and 3. Experiments have been carried out for identification of a 3R ePSe subphase controller. © Springer-Verlag London 2012.