Geometry and kinematics for a spherical-base integrated parallel mechanism

Jie Sun, Xinsheng Zhang, Guowu Wei, Jian S. Dai*

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

10 Citations (Scopus)
160 Downloads (Pure)


Parallel mechanisms, in general, have a rigid base and a moving platform connected by several limbs. For achieving higher mobility and dexterity, more degrees of freedom are introduced to the limbs. However, very few researchers focus on changing the design of the rigid base and making it foldable and reconfigurable to improve the performance of the mechanism. Inspired by manipulating an object with a metamorphic robotic hand, this paper presents for the first time a parallel mechanism with a reconfigurable base. This novel spherical-base integrated parallel mechanism has an enlarged workspace compared with traditional parallel manipulators. Evolution and structure of the proposed parallel mechanism is introduced and the geometric constraint of the mechanism is investigated based on mechanism decomposition. Further, kinematics of the proposed mechanism is reduced to the solution of a univariate polynomial of degree 8. Moreover, screw theory based Jacobian is presented followed by the velocity analysis of the mechanism.

Original languageEnglish
Pages (from-to)1-15
Number of pages15
Early online date4 May 2016
Publication statusE-pub ahead of print - 4 May 2016


  • Jacobian
  • Kinematics
  • Metamorphic hand
  • Parallel mechanism
  • Reconfigurable base
  • Screw theory


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