Abstract

This paper presents group method for synthesis of metamorphic parallel mechanism with 1R2T and 2R1T reconfiguration. The procedure of type synthesis of metamorphic parallel mechanism is presented. Metamorphic joints and metamorphic limbs are synthesized to satisfy the transformation among configurations, then two phases of metamorphic joint are presented to assemble in terms of revolute joints or prismatic joint to develop metamorphic limb with corresponding phases. Metamorphic parallel mechanisms are assembled with respect to constraint forces conditions implement that one mechanism with two motions.

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