This paper presents a novel reconfigurable spherical (rS) joint resulting from the line dependence of screws and their embodiment geometry. Subsequently, the structure and phase change of the rS joint are elaborated. With this new invention, two novel metamorphic mechanisms, that are, the Schatz-derived metamorphic mechanism and the R(rS)R-R(rS)R metamorphic mechanism, are obtained by inserting the rS joint. The mechanisms entail a reconfiguration process that occurs in two manners: the phase change of the rS joint and the bifurcation of the mechanism. The Schatz-derived metamorphic mechanism entails reconfiguration by phase change of the rS joint and the bifurcation, the R(rS)R-R(rS)R metamorphic mechanism reconfigures the configuration based on phase change of the two rS joints. Remarkably, the former realizes the switch between two assembly configurations without resorting to disassembly and reassembly, and maintains the characteristics of the original Schatz mechanism while the rS joint situates in phase R. The latter changes the mobility and bridges gap between a spatial single-loop mechanism and a structure. With this new reconfigurable joint, various reconfigurable mechanisms could be generated by inserting the reconfigurable joint into the classical ones.

本文提出了一种新型的可重构球形 (rS) 关节，该关节由螺钉的线依赖性及其实施例几何形状产生。随后，详细阐述了 rS 接头的结构和相变。通过这项新发明，通过插入rS关节获得了两种新的变质机制，即Schatz衍生的变质机制和R(rS)RR(rS)R变质机制。该机制需要以两种方式发生的重新配置过程：rS 关节的相变和机制的分叉。Schatz 衍生的变质机制需要通过 rS 关节和分叉的相变重新配置，R(rS)RR(rS)R 变质机制基于两个 rS 关节的相变重新配置配置。值得注意的是，前者实现了两种装配配置之间的切换，无需拆卸和重新装配，保持了原有Schatz机构的特性，而rS关节位于R相。后者改变了机动性，弥合了空间单环机构与空间单环机构之间的差距。一个结构。使用这种新的可重构关节，可以通过将可重构关节插入经典关节来生成各种可重构机制。