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Volume 13
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10.3390/machines13100894
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This is an early access version, the complete PDF, HTML, and XML versions will be available soon.
Article

Dynamic Reconstruction of Degrees of Freedom and Coupling Control in 3RPUR Metamorphic Parallel Mechanism

by
Shuwei Qu
1,2,
Chaochao Li
1,
Hongfu Wang
1,3,
Zhike Qian
4,5,
Shengquan Feng
1,
Qianyao Wang
1,
Tiong Sieh Kiong
5,
Ewe Lay Sheng
5,
Ruiqin Li
1,* and
Wei Yao
3,*
1
School of Mechanical Engineering, North University of China, Taiyuan 030051, China
2
The State Key Laboratory of CAD& CG, Zhejiang University, Hangzhou 310058, China
3
North of England Robotic Innovation Centre, University of Salford, Salford M6 6AP, UK
4
School of Mechanical and Electrical Engineering, Huanghe Jiaotong University, Jiaozuo 454000, China
5
College of Engineering, Institute of Sustainable Energy (ISE), University Tenaga Nasional, Kajang 43000, Selangor, Malaysia
*
Authors to whom correspondence should be addressed.
Machines 2025, 13(10), 894; https://doi.org/10.3390/machines13100894
Submission received: 27 August 2025 / Revised: 22 September 2025 / Accepted: 23 September 2025 / Published: 30 September 2025
(This article belongs to the Section Machine Design and Theory)
Versions Notes

Abstract

This study investigates the 3RPUR (3-Revolute–Prismatic–Universal–Revolute) variable parallel mechanism, employing screw theory and linear geometry to analyze the geometric relationships and constraint characteristics of the RPUR (Revolute–Prismatic–Universal–Revolute) limb kinematic pairs. The findings reveal that the constraint moment in the always remains perpendicular to the two axes of the U pair, forming an equivalent plane. Through the locking/unlocking mechanism of universal joints (U pair), the mechanism achieves dynamic degree-of-freedom reconstruction, enabling seamless switching between three translational (3T) and three translational-one-rotation (3T1R) motion modes. The continuity between motion and degrees of freedom during the variable cell process is demonstrated. This research reveals a strict 1:1 linear coupling between the rotational angle of the moving platform around the Z-axis and the U pair’s rotation angle under 3T1R mode. Simulation experiments validate the feasibility and coupling characteristics of both motion modes, providing theoretical and technical support for this mechanism’s adaptation to complex working conditions in mobile robotics applications, particularly where reconfigurable parallel mechanisms are required for multi-task flexibility.
Keywords: 3RPUR variable cell parallel mechanism; degree-of-freedom reconstruction; 3T-3T1R motion mode; linear coupling; motion continuity 3RPUR variable cell parallel mechanism; degree-of-freedom reconstruction; 3T-3T1R motion mode; linear coupling; motion continuity

Share and Cite

MDPI and ACS Style

Qu, S.; Li, C.; Wang, H.; Qian, Z.; Feng, S.; Wang, Q.; Kiong, T.S.; Sheng, E.L.; Li, R.; Yao, W. Dynamic Reconstruction of Degrees of Freedom and Coupling Control in 3RPUR Metamorphic Parallel Mechanism. Machines 2025, 13, 894. https://doi.org/10.3390/machines13100894

AMA Style

Qu S, Li C, Wang H, Qian Z, Feng S, Wang Q, Kiong TS, Sheng EL, Li R, Yao W. Dynamic Reconstruction of Degrees of Freedom and Coupling Control in 3RPUR Metamorphic Parallel Mechanism. Machines. 2025; 13(10):894. https://doi.org/10.3390/machines13100894

Chicago/Turabian Style

Qu, Shuwei, Chaochao Li, Hongfu Wang, Zhike Qian, Shengquan Feng, Qianyao Wang, Tiong Sieh Kiong, Ewe Lay Sheng, Ruiqin Li, and Wei Yao. 2025. "Dynamic Reconstruction of Degrees of Freedom and Coupling Control in 3RPUR Metamorphic Parallel Mechanism" Machines 13, no. 10: 894. https://doi.org/10.3390/machines13100894

APA Style

Qu, S., Li, C., Wang, H., Qian, Z., Feng, S., Wang, Q., Kiong, T. S., Sheng, E. L., Li, R., & Yao, W. (2025). Dynamic Reconstruction of Degrees of Freedom and Coupling Control in 3RPUR Metamorphic Parallel Mechanism. Machines, 13(10), 894. https://doi.org/10.3390/machines13100894

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