A new lockable spherical joint is proposed in this paper, and it can be used as a revolute joint, a universal joint or a spherical joint. Three locking methods are introduced to construct the lockable spherical joint. Based on the proposed lockable spherical joint, a new reconfigurable parallel mechanism (RPM) with large positioning workspace is presented. The RPM has a tripod architecture with a lockable joint in each limb, which enables it three types of parallel mechanisms in six motion cases. Mobility analysis of the six motion cases is conducted. The new RPM can realize both translation and rotation by changing operative modes, which can be employed as machine tools, fixtures or manipulators. Based on the new RPM, two modular reconfigurable manufacturing systems are designed for aircraft assembly production, and a reconfiguration strategy is presented.

本文提出了一种新的可锁定球形关节，它可以用作旋转关节、万向节或球形关节。介绍了三种锁定方法来构造可锁定球形关节。基于所提出的可锁定球形关节，提出了一种具有大定位工作空间的新型可重构并联机构 (RPM)。RPM 具有三脚架结构，每个肢体都有一个可锁定的关节，这使其能够在六个运动情况下使用三种类型的平行机构。对六个运动案例进行了机动性分析。新型RPM可通过改变工作方式实现平移和旋转，可作为机床、夹具或机械手使用。基于新的RPM，为飞机装配生产设计了两个模块化的可重构制造系统，