Abstract

A reconfigurable 3-RPRP spherical parallel mechanism (SPM) is presented, based on two kinds of prototype mechanisms, i.e., 3-RPR and 3-RRP SPMs. The conversion among different configurations is achieved by locking some of the kinematic pairs. According to the permutations and combinations of the number and position of the kinematic pairs locked, 10 kinds of kinematic limbs with different degrees of freedom and configurations can be reconstructed without disassembly. In the paper, the design of the reconfigurable 3-RPRP SPM is described. Kinematics model of the SPM is established, which is applicable for all configurations. A three-dimensional (3D) search method to find the reachable workspace of a reconfigurable SPM is presented.

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