Constraint-plane-based synthesis and topology variation of a class of metamorphic parallel mechanisms

Dongming Gan, Jian S. Dai, Jorge Dias, Lakmal Seneviratne

Research output: Contribution to journalArticlepeer-review

34 Scopus citations


This paper investigates various topologies and mobility of a class of metamorphic parallel mechanisms synthesized with reconfigurable rTPS limbs. Based on the reconfigurable Hooke (rT) joint, the rTPS limb has two phases which result in parallel mechanisms having ability of mobility change. While in one phase the limb has no constraint to the platform, in the other it constrains the spherical joint center to lie on a plane which is used to demonstrate different topologies of the nrTPS metamorphic parallel mechanisms by investigating various relations (parallel or intersecting) among the n constraint planes (n = 2,3,.,6). Geometric constraint equations of the platform rotation matrix and translation vector are set up based on the point-plane constraint, which reveals mobility and redundant geometric conditions of the mechanism topologies. By altering the limbs into the non-constraint phase without constraint plane, new mechanism phases are deduced with mobility change based on each mechanism topology.

Original languageBritish English
Pages (from-to)4179-4191
Number of pages13
JournalJournal of Mechanical Science and Technology
Issue number10
StatePublished - 22 Oct 2014


  • Constraint plane
  • Mobility change
  • Parallel mechanism
  • Reconfiguration
  • Topology variation


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