Abstract
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.
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