Design of an active reconfigurable 2R joint

  • M. RiabtsevEmail author
  • V. Petuya
  • A. Riera
  • E. Macho
Conference paper
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 73)


The increasing flexibility requirements in the manufacturing processes has led to the development of novel reconfigurable mechanisms to be implemented in machine heads and tables. This is the case of the reconfigurable parallel manipulators which are also used in a wide variety of applications. These mechanisms include often in their kinematic chains active or reconfigurable joints. In this paper, a 2R active reconfigurable joint is presented. As well as carrying out the kinematic characterization of the joint, a demonstrative prototype has been also built.


parallel manipulator active joint reconfigurable kinematics 


Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.


  1. 1.
    Kuo, C.H., Dai, J., Yan, H.S.: Reconfiguration principles and strategies for reconfigurable mechanisms. ASME/IFToMM International Conference on Reconfigurable Mechanisms and Robots - ReMAR 2009, pp. 1–7, London, United Kingdom (2009).Google Scholar
  2. 2.
    Bi, Z.M., Kang, B.: Enhancement of adaptability of parallel kinematic machines with an adjustable platform. Journal of Manufacturing Science and Engineering 132 (6): 061016 (2010).CrossRefGoogle Scholar
  3. 3.
    Grosch, P., Di Gregorio, R., López, J., Thomas, F.: Motion planning for a novel reconfigurable parallel manipulator with lockable revolute joints. IEEE International Conference on Robotics and Automation - ICRA 2010, Anchorage, Alaska (2010).Google Scholar
  4. 4.
    Palpacelli, M.C., Carbonari, L., Palmieri, G., Callegari, M.: Analysis and design of a reconfigurable 3-DoF parallel manipulator for multimodal tasks. IEEE/ASME Transactions on Mechatronics 20 (4), 1975–1985 (2014).CrossRefGoogle Scholar
  5. 5.
    Jin, Y., Chen, I., Yang, G.: Structure synthesis and singularity analysis of a parallel manipulator based on selective actuation. IEEE International Conference on Robotics and Automation ICRA 2004, New Orleans USA (2004).Google Scholar
  6. 6.
    Gan, D., Dai, J.S., Liao, Q.: Mobility change in two types of metamorphic parallel mechanisms. Journal of Mechanisms and Robotics 1(4):041007 (2009).CrossRefGoogle Scholar
  7. 7.
    Gan, D., Dai, J.S., Seneviratne, L.: Unified kinematics and optimal design of a 3rRPS metamorphic parallel mechanism with a reconfigurable revolute joint. Mechanism and Machine Theory 96, pp. 239–254, (2016).CrossRefGoogle Scholar
  8. 8.
    Slaboch, B., Voglewede, P.: Profile synthesis of planar rotational–translational variable joints. Journal of Mechanisms and Robotics 6(4), 041012 (2014).CrossRefGoogle Scholar
  9. 9.
    Palmieri, G., Callegari, M., Carbonari, L., Palpacelli, M.C.: Design and testing of a spherical parallel mini manipulator. 2014 IEEE/ASME 10th International Conference on Mechatronic and Embedded Systems and Applications (MESA), Senigallia, Italy (2014).Google Scholar

Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  1. 1.Department of Mechanical EngineeringUniversity of the Basque Country UPV/EHUBilbaoSpain

Personalised recommendations