Abstract This paper investigates a new reconfigurable parallel mechanism consisting of three SvPS kinematic limbs. Induced by phase changes of a metamorphic spherical variable-axis joint (Sv), the SvPS limb is capable of changing to two typical configurations, of which one exerts no constraint and the other exerts a constraint force to the moving platform. Reconfiguration of the three limbs enables the 3-SvPS parallel mechanism to have four distinct configurations with degrees of freedom (DOFs) varying from 3 to 6. Analytical model of position and workspace analysis of the reconfigurable parallel mechanism are first investigated. In terms of the screw theory, a unified Jacobian matrix covering all the mobility configurations is established and utilized for analyzing singularity of the parallel mechanism in different configurations. Further, performance analysis and optimization are explored using the motion/force transmission method. The 3-SvPS parallel mechanism can be used as structure of reconfigurable robotic machine center with adaptability to changing task requirements.

中文翻译：

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一种新型可重构并联机构的运动学建模与优化

摘要 本文研究了一种由三个 SvPS 运动肢组成的新型可重构并联机构。受变形球面可变轴关节（Sv）的相变诱导，SvPS肢体能够改变为两种典型配置，一种不施加约束，另一种对移动平台施加约束力。三肢的重新配置使 3-SvPS 并联机构具有四种不同的配置，自由度 (DOF) 从 3 到 6 不等。首先研究了可重构并联机构的位置和工作空间分析的分析模型。根据螺旋理论，建立了涵盖所有迁移率配置的统一雅可比矩阵，并用于分析不同配置下并联机构的奇异性。更多，使用运动/力传输方法探索性能分析和优化。3-SvPS并联机构可作为可重构机器人加工中心的结构，适应不断变化的任务需求。