This paper presents for the first time the idea of constructing reconfigurable generalized parallel mechanisms (GPMs) by integrating closed-loop kinematotropic linkages with configurable platforms. This leads to a novel way of constructing reconfigurable mechanisms. The geometrical configurations of the closed-loop kinematotropic linkages are analyzed in different working phases. By assembling kinematotropic linkages to moving platforms, the reconfigurable GPMs with configurable platforms are obtained. The kinematic constraints of the reconfigurable GPMs are investigated based on the algebraic structure properties of Lie group. Then a new class of reconfigurable GPMs with configurable platforms is synthesized. The variation of the configurable platforms leads to the reconfigurability of the resulting mechanisms. Consequently, the derived mechanisms can perform several motion models associated with different working phases of the kinematotropic linkages. Finally, a five degree-of-freedom reconfigurable GPM with configurable platform is selected as the typical example to perform the kinematic position analysis. Besides, the workspace analysis of the mechanism is carried out.

本文首次提出了通过将闭环动觉链接与可配置平台集成来构造可重构广义并行机制（GPM）的思想。这导致了一种构造可重构机制的新颖方法。在不同的工作阶段中分析了闭环动动机构的几何构型。通过将动动链接组装到移动平台上，可以获得具有可配置平台的可重新配置GPM。基于李群的代数结构性质，研究了可重构GPM的运动学约束。然后，合成了具有可配置平台的一类新的可配置GPM。可配置平台的变化导致结果机制的可重新配置性。所以，派生的机制可以执行与运动相关联的不同工作阶段相关的几个运动模型。最后，选择具有可配置平台的五自由度可重构GPM作为执行运动位置分析的典型示例。此外，进行了机构的工作区分析。