Abstract
This paper presents a metamorphic parallel mechanism which can switch its motion between one translation and two rotation (1T2R) motion and pure rotation (3R) motion. This feature stems from a reconfigurable revolute (rR) joint of which the rotation axis can be altered freely. Screw based geometric constraint is used to demonstrate the reconfiguration and mobility. Unified inverse kinematics, Jacobian matrix and motion/force transmissibility are provided using screws. Based on those, singularity loci are illustrated and optimal design of some key parameters are conducted considering both the 1T2R and 3R phases. Trade-off can be made between the maximum singularity-free workspace and transmission performance based on the optimal design results in this paper for specific applications requiring 1T2R and 3R motion.
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