Abstract Metamorphic mechanisms are capable of changing their mobility by changing the number of effective joints and links under geometrical constraints. In this paper, a new approach in constructing 6R metamorphic mechanisms is proposed and demonstrated by a class of new mechanisms with bifurcated motion. By connecting three Bennett linkages in series and modifying geometrical parameters of the constructed mechanism, six novel metamorphic mechanisms are obtained. Those new mechanisms exhibit bifurcated motion among classical linkages such as the Bennett linkage, the Goldberg 5R linkage, and variant serial Goldberg 6R linkages. Fundamental geometrical constraints are derived with a salient kink angle being defined in the mechanism constructing and modeling. Further, the paper reveals in details the branch transformation and the graph representation of these metamorphic mechanisms.

中文翻译：

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由三个串联连接的 Bennett 连接引起的六种新的 6R 变质机制在经典连接中有所不同

摘要 变形机构能够通过在几何约束下改变有效关节和连杆的数量来改变其机动性。在本文中，提出了一种构建 6R 变质机制的新方法，并通过一类具有分叉运动的新机制进行了论证。通过串联三个 Bennett 连杆并修改构造机构的几何参数，获得了六种新的变形机构。这些新机制在经典联动装置（例如 Bennett 联动装置、Goldberg 5R 联动装置和变体系列 Goldberg 6R 联动装置）之间表现出分叉运动。基本几何约束是通过在机构构建和建模中定义的显着扭结角导出的。更多，