Abstract This paper presents a novel 7R metamorphic mechanism induced by Schatz linkage. The mechanism can realize the reconfigurable switch between two assembly configurations of Schatz linkage without disassembly and reassembly. The mechanism has four different motion branches and twelve bifurcation points. Two of these motion branches are two assembly configurations of Schatz linkage, and the others are two different single degree-of-freedom spatial 7R mechanisms. Bifurcation variations of the mechanism are presented by the configuration space, which is obtained by using the numerical approach of closed-loop equations. Then, twelve bifurcation points are identified by first- and second-order constraint equations. Moreover, motion ruled surfaces of the coupler link are generated, which proves that the mechanism has four motion branches and can switch from one assembly configuration of Schatz linkage to the other assembly configuration through another two motion branches.

中文翻译：

---

一种新型 Schatz 连杆诱导变质机制的分岔变化和运动规则表面演化

摘要 本文提出了一种由Schatz 连锁诱导的新型7R 变质机制。该机构无需拆装即可实现沙茨连杆的两种装配配置之间的可重构切换。该机构有四个不同的运动分支和十二个分叉点。其中两个运动分支是Schatz连杆的两种装配配置，另一种是两种不同的单自由度空间7R机构。该机构的分岔变化由配置空间表示，该配置空间是通过使用闭环方程的数值方法获得的。然后，通过一阶和二阶约束方程确定十二个分岔点。此外，还生成了耦合器连杆的运动规则面，