Abstract The theoretically possible reconfigurable parallel mechanisms are classified, in terms of the layout of guides on the base. Formulas are derived for the characteristic parameters of each type. On that basis, individual calculation templates are developed for formalized design of reconfigurable parallel mechanisms.

中文翻译：

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可重构并联机构的分类

摘要 根据基座上导轨的布局，对理论上可能的可重构并联机构进行了分类。推导出每种类型的特征参数的公式。在此基础上，为可重构并联机构的形式化设计开发了单独的计算模板。