Reconfiguration and static joint force variation of a 3rRPS metamorphic parallel mechanism with 3R and 1T2R motion

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

Research output: Chapter in Book/Report/Conference proceedingChapterpeer-review

5 Scopus citations


This paper introduces a new metamorphic parallel mechanism with a reconfigurable revolute (rR) joint. The mechanism consists of three rRPS (rR joint-prismtaic joint-spherical joint) limbs and the main feature of this mechanism is that it can be reconfigured between two working motion types while one with pure rotation (3R) motion and the other with one translation and two rotation (1T2R) motion. Reconfiguration principle of the rR joint is explained and screw theory is used to represent the constraint forces provided by the rRPS limb to the platform. Mobility analysis and reconfiguration is then shown considering the constraint force change following the rR joint reconfiguration in each limb. To provide basis of optimal design for further applications, static force analysis is carried out with focus on joint reaction force variation when tuning the rR joint axis for reconfiguration. This will provide reference in component selection and design for specified task force requirement by finding the maximum reaction forces in the joints.

Original languageBritish English
Title of host publicationMechanisms and Machine Science
PublisherKluwer Academic Publishers
Number of pages10
StatePublished - 2016

Publication series

NameMechanisms and Machine Science
ISSN (Print)2211-0984
ISSN (Electronic)2211-0992


  • Optimization
  • Parallel mechanism
  • Reconfiguration
  • Static force


Dive into the research topics of 'Reconfiguration and static joint force variation of a 3rRPS metamorphic parallel mechanism with 3R and 1T2R motion'. Together they form a unique fingerprint.

Cite this