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Variable Motion/Force Transmissibility of a Metamorphic Parallel Mechanism With Reconfigurable 3T and 3R Motion

[+] Author Affiliations
Dongming Gan

Khalifa University of Science, Technology & Research, Abu Dhabi, UAE

Jian S. Dai

King’s College London, University of London, London, UK

Jorge Dias

Khalifa University of Science, Technology & Research, Abu Dhabi, UAEUniversity of Coimbra, Coimbra, Portugal

Lakmal D. Seneviratne

Khalifa University of Science, Technology & Research, Abu Dhabi, UAEKing’s College London, University of London, London, UK

Paper No. DETC2015-46685, pp. V05CT08A037; 10 pages
  • ASME 2015 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 5C: 39th Mechanisms and Robotics Conference
  • Boston, Massachusetts, USA, August 2–5, 2015
  • Conference Sponsors: Design Engineering Division, Computers and Information in Engineering Division
  • ISBN: 978-0-7918-5714-4
  • Copyright © 2015 by ASME


This paper presents a metamorphic parallel mechanism which can switch its motion between pure translation (3T) and pure rotation (3R) motion. This feature stems from a reconfigurable Hooke (rT) joint of which one of the rotation axes can be altered freely. More than that, based on the reconfiguration of the rT joint, workspace of both 3T and 3R motion can be tunable and the rotation center of the 3R motion can be controlled along a line perpendicular to the base plane. Kinematics analysis is presented based on the geometric constraint of the parallel mechanism covering both 3T and 3R motion. Following these screw theory based motion/force transmission equations are obtained and their characteristics are investigated and linked to the singularity analysis using Jacobian matrix. Motion/force transmission indices can be used to optimize basic design parameters of the metamorphic parallel mechanism. This provides reference of this mechanism for potential applications requiring 3T and 3R motion.

Copyright © 2015 by ASME



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